Borderlands has always been a great game to play with friends, and Borderlands 3 is no exception. There are many social features integrated into the game already, such as voice chat and the ability to use emotes.
You can choose to either invite friends, join some random persons session and work together or start a LAN session. However this guide specifically is for inviting friends.
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Inviting Friends
To invite your friends, head into the Social Menu. You can do this from the main menu, which can be accessed by pressing ESC on PC, from there, press the ‘Social’ button.

There are a lot of tabs at the top of the screen, with the first one being ‘Roster’. In here, you will see a list of friends. If you are playing on PC like me, these are going to be your friends in the Epic Games launcher.

All you have to do is select a friend and chose the ‘Invite’ option. The other person will obviously need to accept your invite, or they can choose to join your game manually if your games privacy settings allow it.