How to see friends on a map the private way
Quick answer
To see friends on a map privately, pin where they live to a list only you can see, rather than streaming live dots. Your phone checks distance locally and alerts you when you are nearby.
Live maps like Snap Map or Find My show friends as moving dots, which means everyone broadcasts their position. If you only care about who lives where, a static map of saved places works better and stays private. Pin a friend's home to a list only you can read. Your phone then checks distance on its own and taps you when you are close. The map shows places, not people in motion.
In one sentence
Parages pings you when you pass near a friend. It tracks nobody.