You can use the Find My app to locate a missing AirTag or third-party item that you’ve registered to your Apple Account. If you have an iPhone 15 or later model, you can also find their exact location.
Learn how to register an on your iPhone.
Tap Items at the bottom 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