Dave, on iOS it works the same way, and with the increase in privacy controls year after year, I think there will be no regressions.
What many apps do is show a form before the permission request saying that it is necessary to grant X permission and if the user clicks on proceed, then requests the permission. This will avoid almost all permissions being denied. And when that happens, there's nothing to do but ask the user to grant permission on the settings (even Telegram does that).