Seeing location of friends in Google map in navigation mode

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I do not know how to do it within one app, but if you can use two telephones you can have one on the navigation view and the other on the 'follow the others' view.
It will be easy enough to place two phones on the front windscreen or dash of a car, with two different phone holders, and if you place them just side by side or above each other they should not take much of your windscreen or view.

As you mention your mates to be asleep if not driving, you will have to get one of them to trust you with their phone or you can buy a cheap one for just this use. You can use map apps which do not need data for navigation, which is what I use in my bike, leaving the 'real phone with data' for the connection that shows the others.

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