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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This is something to do with the Fireteam chat my friends and I found that the only way around this currently is that you all need to be in the same Fireteam and in game chat and that should work I hope this gets fixed though