Well, but there is a big "NO". Yes, you cannot locate someone's location from WhatsApp. You can share your location with someone else, which you may not know but do not track someone's location with your device. Because the app has end-to-end encrypted and the third person does not read the chats between them. Hence on WhatsApp, you cannot track the location of someone else.
Also, read this - https://allsavvy.net/how-to-track-someone-on-google-maps