Ustadh Nouman Ali Khan, explains in Surah Yunus, who are the friends of Allah عزّ وجلّ. Explaining verse 61-63, he says:
You won’t find yourself in any situation and you won’t recite any portion of the Qur’aan, from any part of the recitation (there is a switch, Allaah عزّ وجلّ is talking to His messenger), you will not find yourself in any situation, you will not recite a single ayah anywhere from the Qur’aan. As for all of the Muslims there isn’t a single deed that any will be doing except that We will be upon you especially your witnesses. Allaah عزّ وجلّ is witness over all things but He is saying “I will be a special witness upon you” - Allaah عزّ وجلّ says, whatever action that one does He is a witness over us even whilst we are engulfed in it. Ibn Al faaris reports: they lose track of everything else they are so busy in that. Allaah عزّ وجلّ is watching this and is appreciating it. ‘Azaba = when you watch somebody walk away they go so far you can’t see them anymore. So you slowly see them disappear. Or if you take a pebble and throw it into a lake it slowly becomes smaller until it disappears. Allaah عزّ وجلّ says nothing disappears from the Vision of your Master no matter how far you think it goes. Mimmithqaali zarratin = from the weight of a speck, Fil ardi wa la fissamaa = in the earth and whatever is above. Wa laa asghar min zaalik = and whatever that can be smaller than that too or bigger, Allaah عزّ وجلّ is telling us the smallest deed that you do for this deen will not go unappreciated. I will be a special witness of that deed for you.
You had better know, the protective friends, the deep, trustworthy friends of Allaah, there is no fear on them and they’re not the ones who will be grieving. In other words, in doing so and keeping the work up we have the opportunity to become the awliyaa of Allaah. The next ayah defines the walee of Allaah عزّ وجلّ
Those who have emaan and they maintain the quality of taqwa in their life. The reason why Allaah عزّ وجلّ made the friendship of Allaah between the slave and the Master realistic is because when it is made unrealistic that is when help is sought from somebody else and say that he is much better than us, he should be Allaah’s عزّ وجلّ wali. The shafa’ happened because people were distant from Allaah عزّ وجلّ.
It is possible for all of us to be friends of Allah عزّ وجلّ as long as we have Iman and maintain the quality of Taqwa in our life.
Below is another lecture on this topic by Ustadh Nouman.