Agreed. The ability to instantly join/start a fireteam rather than return to orbit to have to sparrow over to where the other team member(s) is would be extremely beneficial. There were times when I chose not to join a fireteam due to the fact that I did not want to have to load back to orbit, listen to the mission intro, and have to ride, or one time walk, to where everyone else was.
If it was a much faster loading process, and if the ship could drop me off close by, that would even be more preferrable, but on the spot joining, as evidence by everyone one else here, would be the best. I'd even take a day one update for the game!
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I like this. If Bungie can't quite nail "instant" fireteams due to server technicalities then I would settle for a quick load screen and a close drop off point