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Yes, you can. I suggest you have your friend call you cell phone when they are coming out of the building then you can drive by and pick them up. Make sure you know if they are outside the baggage claim area or ticketing. Baggage claim is labled "arrivals" and Ticketing is "departures" they are separate buildings and not the normal top and bottom floors you see at most airports.
There is a Cell Phone waiting area you can park in for free at JFK..it is in the airport but its still 5 minutes away from the terminal. It is near Federal Circle. It is better than driving around in circles and burning precious fuel.