# If you'd like to omit non-matching lines from the result; add ';d' to the end of the expression.
sed -E 's/(?:\s|^)([^\\]+)(?=\\u|\\\\u)/\1 /gm;t' <<< "blabla whoaaa\\ud83d\\udc4f blabla blabla whoaaa\\ud83d\\udc4f\\ud83d\\udc4f blabla\\ud83d blabla\\ud83d blabla\\ud83d"
Please keep in mind that these code samples are automatically generated and are not guaranteed to work. If you find any syntax errors, feel free to submit a bug report. For a full regex reference for SED, please visit: https://www.gnu.org/software/sed/manual/html_node/The-_0022s_0022-Command.html