Each opponent can cast spells only any time they could cast a sorcery.
[+1]: Until your next turn, you may cast sorcery spells as though they had flash.
[−3]: Return up to one target artifact, creature, or enchantment to its owner's hand. Draw a card.
If an effect allows opponents to cast spells any time they could cast an instant (for example, if your opponent also controls a Teferi, Time Raveler and activates his +1 loyalty ability), the restriction of Teferi’s first ability takes precedence over that permission.
You may activate Teferi’s last ability without choosing any target. You’ll just draw a card. However, if you do choose a target and the target permanent is an illegal target by the time Teferi’s last ability tries to resolve, the ability doesn’t resolve. You don’t draw a card.