Sometimes it would be nice to be able to join in on a friend like if there is a public event, if you need to find something and a friend knows where it is, if you have more than 3 friends on and you just want to hang out. Why can't I hang out with more than 3 friends? There are other players on the planet so why can't it be someone I'm in a party with, My parties or often full, 8 people, but we can't do things together, why do we have to be sent to orbit when leaving a fireteam
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Basically this makes me think of overlaying the sessions and having a "move to friends session" type style. I love this kind of thing in games and have seen a few mmo types use this very successfully.