You can use the Find My app to locate a missing AirTag or third-party item that you’ve registered to your Apple Account.
Learn how to register an on your iPad.
Tap Items at the bottom-left side of the screen, then tap the item you want to get directions to.
Tap Directions to open Maps.
See Apple Support article: What to do if you get an alert that an AirTag, Find My network accessory, or set of AirPods is with you