I think it is a little long winded and slow to invite someone to your Fireteam, since there is not proximity voice chat it would be nice to press a button and quick select someone to invite to your Fireteam without ever leaving the screen, as soon as i go to options my view of incoming enemies etc is gone and i could be shot any minute. This would make it easier and encourage social playing.
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Yes please make this seamless and in game.