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4

Convoluted logic –

in the for loop 
for friend in friends:
    if hero.time < 3.5:
        ...
    elif friend.type == "archer":   # AND if hero.time >= 3.5
        ...
    elif friend.type == "paladin":
        ...
    elif friend.type == "soldier":
        ...

Clear logic would be something like this:

if hero.time < 3:
    ...
elif hero.time < 10:
    ...
elif hero.time < 20:
    ...
else: # when hero.time >= 20
    ...

And then somewhere inside those statements, you can determine what to do depending on friend.type.


regarding the while loop 
while hero.time < 20:
    friends = hero.findFriends()
    for friend in friends:
        ...
    # end of while

# ok, so what do you do after the 20-second mark?

Also, I’d suggest making functions for those pieces of code that repeat inside your program.
Useful tips on organizing your code for clarity: