The only way I get to play with others on my crew is Open Crew but how do I join or Invite others? Like if I find a crew on Discord but I don't know how to join them?
How to join a certain crew
You search for their gamer tag on Xbox, confirm with the other person that the avatar you found belongs to them, right click on it and invite him to your game.
If you wanna join, you will need to tell them your gamer tag, but on discord I would recommend to just link the accounts for their easy access.
If someone is already in your friend list, when you start a game just press 1 and choose from your friend list.
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