try the below code,
terms.get().then((terms:ITerm[])=>{
terms.forEach((term:any)=>{
term.LocalCustomProperties._Sys_Nav_TargetUrl;
console.log(term.LocalCustomProperties._Sys_Nav_SimpleLinkUrl);
});
});
The above code gives you the simple link.
AFAIK, term.LocalCustomProperties
doesn't have the friendly URL property, so you can try the below approach, it will help you to get the friendly URL using JSOM, but not using PnP JS,
To retrieve the friendly URL you could utilize SP.Publishing.Navigation.NavigationTerm object which:
Specifies navigation behavior and properties for a SP.Taxonomy.Term
constructor (sp.taxonomy) object that is used to drive the navigation
and friendly URLs for a website.
The specified class contains getWebRelativeFriendlyUrl method which
returns the friendly URL segments as a concatenated path.
Example
var scriptbase = _spPageContextInfo.webAbsoluteUrl+"/_layouts/15";
$.getScript(scriptbase +"/sp.runtime.js",function(){
$.getScript(scriptbase + "/sp.js", function() {
$.getScript(scriptbase + "/sp.publishing.js",function(){
$.getScript(scriptbase+"/sp.taxonomy.js",function(){
var termId = "--Term ID goes here--";
var ctx = SP.ClientContext.get_current();
var taxSession = SP.Taxonomy.TaxonomySession.getTaxonomySession(ctx);
var term = taxSession.getTerm(termId);
var navTerm = SP.Publishing.Navigation.NavigationTerm.getAsResolvedByWeb(ctx,term, ctx.get_web(), "CurrentNavigationTaxonomyProvider");
var friendlyUrl = navTerm.getWebRelativeFriendlyUrl();
ctx.executeQueryAsync(function() {
console.log(friendlyUrl.get_value());
},
function(sender,args) {
console.log(args.get_message());
});
})
})
})
});
SOURCE