Would be great to add a join in session in game. I have a group of friends playing destiny, Always see at least 8-12 min online playing every time I get home from work. Either they or I will be in a middle of something epic too busy to stop. Then would need to log into my friends list on Xbox One to do join, but the join game is not always available.
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You can by joining their fireteam. I do it all the time it just won't let you if their match is full otherwise you can. Note: I'm on ps4 doubt that this would make any difference but just keep this in mind