Yes, this person needs RCIA.
The question is “what form of RCIA.”
Unfortunately (most unfortunately) it’s a common misunderstanding that there’s only one form of RCIA—the one we see most often, which is the form for the unbaptized culminating in the Easter Vigil.
There is a form (perhaps that should be in the plural, “forms”) of RCIA for those who are baptised Catholic, but un-catechized. It seems that’s what applies to your friend’s situation.
He needs to make his first Confession, First Communion, and Confirmation----unless he’s already done these. Since he is an adult, this is called RCIA the Rite of Christian Initiation of Adults.
He might benefit from participating along with the unbaptized as they experience RCIA, although some parts would not apply to him, the educational and social experience might be of benefit.
Since he was baptised Catholic, he is already a Catholic. He is not “received into the Church” because that was already done at baptism.
He can go to confession to any Catholic priest at any time.
If he has not received First Communion, he should receive it from his pastor whenever the time is right.
As for Confirmation, that depends on the circumstances, but one way or another he should be confirmed as soon as he understands it, and it is practical in terms of the schedule. For example, if there’s a parish Confirmation scheduled for a few months from now, he could join in with that class.
All this depends on where he is as an individual and what sort of resources (classes, maybe?) are available and practical at his particular parish.