Greetings, Bountyfett22.
Welcome to the Apple Support Communities! We understand that you’re no longer able to use your AirPods Pro after allowing your friend to use them, and we’d be happy to see if we can offer some suggestions that will help. It sounds like your AirPods automatically connected to Find My for your friend when they were paired to their iPhone.
Do you know if your friend has removed your AirPods from their account? If not, have them remove your AirPods from their device as outlined here:
Then reset your AirPods before pairing them with your own iPhone.
If they’re still not able to pair with your device, check to see if your friend has enabled Lost Mode for the AirPods.
All Our Best.