Which friction? Friction with the air (or actually, compression of the air in front of the object, which is a much greater cause of heating) is how it sheds almost all its velocity in the upper atmosphere. Once it reaches terminal velocity, it doesn't heat up meaningfully by friction.

See also: "From what height would you need to drop a steak for it to be cooked when it hit the ground?" https://what-if.xkcd.com/28/