They are. The App Switcher closing should only be used when an app is misbehaving, or when you don't intend to use an app for a long time. In fact, I'd say 95% of the time, you don't even need to swipe anything up.
Apps cannot explicitly collect information in the background because
- Apps are very limited to what information can be collected
- Apps cannot remain open in the background, they are suspended after a time frame is up (the time frame given to an app that has just been put into the background is only used for finishing up any remaining operations and to speed up switching between apps)
- Apps are restricted to iOS limitations (i.e. To collect information such as location services, it would be extremely obvious to the user that they are doing so)
I don't know why people keep saying apps stay in the background. Apps on iOS do not stay in the background unless they've violated Apple's ToS or a bug(s) has occurred with the operating system. If there's any drain, it would be caused by screen-on time or push notifications. Some apps use a lot more battery when opened with the screen on (Facebook), and since push notifications work by maintaining an open connection to the APNS, more push notifications means more drain. These are of course, just theories, because there is no real method to check detailed battery usage on iOS.