It's not really scriptable, but if you look at the network traffic you can "copy as curl" one of the URLs that pop up as you're playing with "Find My Friends" on icloud.com and paste it into a terminal. It will return a JSON blob with geo information of all of your friends.
I don't know how long the cookie that "copy as curl" grabs lasts, but if it's long-lived I can absolutely see dropping it into a little script and feeding the lat/long into a static Google Maps tile URL.
Right on. I would have figured that iCloud would have one of those iterating cookies (I have no idea what it's really called) where each request iterates the request-data of each subsequent http call so a copy curl wouldn't work.
I don't know how long the cookie that "copy as curl" grabs lasts, but if it's long-lived I can absolutely see dropping it into a little script and feeding the lat/long into a static Google Maps tile URL.