Hi, I tried to publish the form and and configure the URL in the Web Map as:
arcgis-survey123://?itemID=XXXX¢er={Lat},{Long}
By using ArcGIS Explorer and ArcGIS Collector I clicked on the feature and get the same location in S123.
Also, Make sure about the format of the decimal to set it to the maximum.
So, kindly Check again your URL or share it with me and I will apply the same then check it.