So, multiple options here. Skydivers regularly hit terminal velocity, as fast as they’ll go in atmosphere, before pulling their chutes. At these speeds, heat from friction isn’t enough to worry about. Once again though, if you’re coming down from space, that “in atmosphere” asterisk goes away. If you’re dropping from a satellite, you’re going at speeds necessary to orbit, and you don’t have anything slowing you down until you hit the atmosphere. Suddenly your terminal velocity is way lower than infinity, and the friction you’re feeling from the atmosphere is INTENSE, rapidly turning that speed into heat