Start with a relationship
Invite or accept people through the app’s relationship controls. The Friends screen includes People, Places and Requests, and supported builds offer circle organization.
Review sharing separately
A relationship and a location grant are different things. Review the audience, Ghost Mode, Pause Sharing and other visibility controls rather than assuming every friend sees every update.
Keep it current
Remove access you no longer want and review the people in a circle when relationships change. A shared plan or circle should reflect an agreement between the people involved.