friend wants furniture back after 5 years? do I have to give it up?

Technically it is still theirs as you have never said if it was a gift or as a loan.

It is a family thing and if you want to sit on it make them take you to court over it, but I think it will not be covered by laws though.

Try buying it off them if you wish or tell them to travel and pick them up and hope they are a long distance away. I would going for the latter because if they would have to travel a long way they may offer it for sale and you can suggest a rock bottom price to save them having to travel all that way.

See if you can get some money or furniture to replace it.

It was a gift, as they gave it to you, so legally it IS yours. However, unless you really can't afford it, it's probably best to give it back. You say you had a major falling out with your family, so why create an even bigger problem by having them try to draw you into some stupid court hearing over a bedroom set? Plus, if you don't like them, why do you want to have a constant reminder of them in your bedroom? Just give it back, and be done with them for right now. Maybe keep the mattress (who wants a used mattress? besides the actual person who has been using it for the past 5 years).

There is a thrift store in literally every town anymore. Go buy a new bedroom set. You'd only need $30 or $40 bucks. Is $40 bucks not worth getting them out of your hair?

If you can afford some bedroom furniture - tell them to come and get it.

Why make an issue of who it belongs to legally?

It's yours as they gifted it to you....they can not take back a gift.