How can I see all the people that I’m sharing my location with on the map at the same time instead of seeing my location

You should be able to do that by using the Find My app. Once you open the Find My app then you can tap on the bottom left icon PEOPLE and you should see all those who are sharing their location with you on the same map.

Axel F.

On the initial screen you will see those who are in your immediate vicinity. If the people that share their location with you are spread apart then you will have to "pinch" the screen together (Zoom out) so that the others can fit.

Axel F.