Whenever you join a friends party while in-game, you can only hear them if you have the party "snapped" if you unsnap it, you wont be able to talk to your friends unless you exit the game completly. Something Bungie should know about and fix.
English
#feedback
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You can start another game and unsnap then start up destiny and play full screen while chatting with your friends. Remember not to snap party while playing destiny beta. Have fun :)