All perfect praise be to Allah, the Lord of the worlds. I testify that there is none worthy of worship except Allah and that Muhammad is His slave and Messenger.
If you both forgot the amount of the loan and later agreed on a certain amount, then this is permissible. If it turns out that what you paid him is less than what is required, then in this case, you have to complete it [repay the full amount] in order to clear yourself of your liability from debt.
If you paid him more than the amount that he had originally lent you without any prior condition, then this would not be considered interest.
Ibn Qudaamah said, “If a person lent someone else without a condition and the debtor paid him back more in amount or kind or less than the original loan, with the agreement of both of them, then this is permissible.”
Allah knows best.