Current macOS Time Machine implementation on APFS volumes makes it very complicated to restore files from command line, this script shows how to do so.

tm-restore.sh

#!/usr/bin/env bash
# MIT License
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# Copyright (c) 2022 Nathaniel-Wu
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backup_id="$1"
! grep -Fq "${backup_id}" <<< "$(tmutil listbackups)" && exit 1
src="$(realpath "$2")"
dst="$(realpath "$3")"

# for some reason mount_apfs sometimes will fail when you try to mount a snapshot older than the one previously mounted
# the workaround is to unmount and re-mount the volume
backup_volume="$(tmutil destinationinfo | grep -E '^\s*Mount Point' | gsed -E -e 's/^\s*Mount Point\s*:\s*//g' -e 's/\s*$//g')"
snapshot_mount_point="$(mktemp -d)"
if ! mount_apfs_error_message="$(mount_apfs -o 'nobrowse,rdonly' -s "com.apple.TimeMachine.${backup_id}" "${backup_volume}" "${snapshot_mount_point}" 2>&1)"; then
    if [ "${mount_apfs_error_message}" == 'mount_apfs: volume could not be mounted: Resource busy' ]; then
        backup_volume_info="$(diskutil info "${backup_volume}")"
        backup_physical_store="$(grep -E '^\s*APFS Physical Store' <<< "${backup_volume_info}" | grep -Eo 'disk\d+')"
        ! diskutil unmountDisk "${backup_physical_store}" && exit $?
        backup_volume_id="$(grep -E '^\s*Device Identifier' <<< "${backup_volume_info}" | grep -Eo 'disk\d+[^[:space:]]*')"
        ! diskutil mount "${backup_volume_id}" && exit $?
        ! mount_apfs -o 'nobrowse,rdonly' -s "com.apple.TimeMachine.${backup_id}" "${backup_volume}" "${snapshot_mount_point}" && exit $?
    else
        mount_apfs_error_code=$?
        echo "${mount_apfs_error_message}" >&2
        exit "${mount_apfs_error_code}"
    fi
fi

src_backup="${snapshot_mount_point}/${backup_id}/Macintosh HD - Data${src}"
if [ -e "${src_backup}" ]; then
    if [ -d "$src_backup" ]; then
        rsync -auvpH "${src_backup}/" "${dst}"
    elif [ -f "$src_backup" ]; then
        rsync -auvp "${src_backup}" "${dst}"
    fi
else
    echo "'${src_backup}' does not exist." >&2
    exit 2
fi

diskutil unmount "${snapshot_mount_point}" && rm -rf -- "${snapshot_mount_point}"