I found three workarounds for now. The first, super simple, just change Google Calendar sharing to "See all event details". Drawback... keeps it read only so you won't be able to make changes to the calendar.
The second is to use the mentioned link above https://www.google.com/calendar/iphoneselect to hide the shared Google Calendar from iOS. Then get the "Secret address in iCal format" from Google Calendar sharing (ex: https://calendar.google.com/calendar/ical/email%40gmail.comprivate-fjdsk2839j2189vACfsjkd/basic.ics) and subscribe to the calendar in Calendars | Add Calendar | Add Subscription Calendar. That will be a read only calendar so you won't receive any invites, but you can still modify events through Google Calendar on your desktop.
The third is a little more complicated and I only use it because the shared Google Calendar I had was so massive that it didn't allow sharing (it kept saying "Insecure Connection" when attempting to add the iCal subscription). It involves using CalDAV and creating an intermediary Google account that only has "See all event details" to the shared Google Calendar. This prevents it from modifications to the Calendar so you don't get any invites. Google's CalDAV authentication uses Google's app passwords so you need to generate one for use to sign in with CalDAV. Add the CalDAV calendar to you iPhone through Settings | Mail | Accounts | Add Account | Other | Add CalDAV Account. For the server use https://www.google.com/calendar/dav//user then put your Gmail address and the app password.