My Xbox 360 friends all show up in my friends list in the companion app, but none of my friends I have added since getting my Xbox One are showing up.
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Solution found! A workaround really. But it solved my issue. The answer is to use the Xbox 360 Smartglass to add your friends. So here is what I did. I installed the Xbox 360 Smartglass app on my phone (it's a separate app from the XB1 smartglass). I then sent a friend request to my friend that plays Destiny on his XB1. I then asked him to install the XB360 smartglass app on his phone (he doesn't own an XB360) and then accept my friend request from there. As a result, I now see him on my XB360 friends list, and consequently, I see him in the Destiny Companion App! I hope this helps somebody out there. It's hard to push back the darkness when you can't see each other...