Apple does not share information on Items (only Persons and Devices): with the iCloud integration you not get the position.
So you need an Apple device with FindMy to track them (the application caches the coordinates on disk)
I then use FindMySync to push this cached information to Home Assistant (FindMySync - Martin Pham). It will automatically generate entries for known_devices.yml as
You will have to add attributes “latitude”, “longitude” to these history-stats sensors via customization - then just add these sensors on a map with this option “label_mode = state”.
Since zone entities should be also added on a map to display a “circle” - you will have to:
Specify a blank icon for each zone (mdi:blank).
Add those HS-sensors after zone entities - to make these sensors be shown ABOVE zones.