Fairly certain this cannot be done.
According to Apple and everything else I've read, the AirTag system works something like this:
- AirTag periodically broadcasts out its serial number (or some other unique identifier).
- The AirTag's ID is picked up by any random nearby iPhones.
- These random iPhones anonymously send back a "AirTag ID #xxxxx is located at these coordinates..." signal to Apple's servers.
- The AirTag's location information is then updated on Apple's servers.
- If Apple's servers see that the AirTag is not at the same location as its owner's iPhone, and it remains in bluetooth in proximity to someone else's moving iPhone, Apple's servers push out a "make an audible beep" command though the contributing iPhone to transmit via Bluetooth to the AirTag (the anti-stalking warning).
- AirTag owner can log in and see what's the last reported location of the AirTag.
- No information on contributing iPhones is sent or stored (like who's phone sent location information), so the system can't be used to reverse-look up the location of an arbitrary iPhone; even if Apple stored such information, you'd have to get inside Apple's servers to make use of it, something not available on customer-facing APIs.
Thought the course of a day, your iPhone may have passed by several AirTags and sent along GPS coordinates of that AirTag's location, but Apple isn't also storing that location with your identifying information attached to it (so they say). And even if they did, there's no way for you to access any of it.
So it's possible that Apple could do something like you ask, BUT, if the AirTag weren't moving, all you'd have is a bunch of dots in a small radius around the AirTag and that's it. Since Apple claims they're not keeping info on the phones that communicate with the AirTag, they would have no way of knowing where all those phones have since moved to since last in bluetooth range of said AirTag nor who those phones belonged to.
The AirTag itself has almost no other smarts to it. It sends out its identifier and that's about it. I believe it has a small accelerometer so it knows if it's been moved since the last time another iPhone "touched" it. If so, and the owner's iPhone isn't also within bluetooth range, it'll start beeping (anti-stalking). But otherwise the AirTag itself has no idea of where it is. That information is stored on Apple's servers.
Edit: for completeness, when you're in BT range of your own AirTag, you can make use of the ultrawideband chip inside it to get directional & distance information on where the AirTag is (like under the sofa cushion or something).