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Yes you can did it today
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Yes. I've done this myself.
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Not at the boss battles
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I'm telling you it works. Even at the boss battles. Me and 2 friends were doing L32 two days ago and I left to get my Gjallahorn but couldn't rejoin at first. I freaked out but during my rampage I remained in my roster screen and noticed that the join fireteam option became available. After rejoining I told my friends and they said I joined right after they died and returned to the airlock. We put this to the test a couple of times and it works!
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Yes you can, just after person leaves or lags out you have to wipe, then you and who ever is left run back into skolas and wipe again so destiny only registers two players then they can rejoin. Did it about 4 times last night and this morning
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Ok good