Find My Friends is just called 'Find My' in iOS 13 — here's how to access and use it on your iPhone

The Find My app is exclusive to iOS 13, and combines the Find My Friends and Find My iPhone apps into one.
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Find My iPhone: A Lifesaver for Lost or Stolen Devices – Here's How to Set It Up

Turn on Find My from Apple Account settings, and enable Location Services from Privacy & Security This article explains how to set up Find My (or its predecessor Find ...