You cannot play offline ... that includes local (nor system link).
But you could agree to meet up at a known destination - buggy race on the moon?
Although you may have to put up with party crashers ... like a snipe to the head whilst on the final lap of that buggy race. Its all about creating a more immersive and enjoyable experience.
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That doesn't necessarily answer the question for me, as you can have an online local co-op game. I am interested in knowing if two people can play online on the same console at one time (split screen). My wife in I are both interested in the game, but I don't want to have to buy 2 ps4's and have two TV's to play together (I wouldn't mind buying two copies of Destiny however).