Yes, you can play with friends from ‘See the same World with friends’.

For PC, tablet, and smartphone:
①Click the human icon on the top left corner of the screen to open the user display.
②Select ‘See the same World with friends’.
③Ask your friend to share the Session ID with you, and then enter it.
After entering the Session ID, press 're-enter' to play in the same world.

For MataQuest:
①Press the menu button on the left controller to open the menu screen.
②Select the human icon in the top left corner of the menu screen to open the user display.
③Ask your friend to share the Session ID with you, and then enter it.
After entering the Session ID, press 're-enter' to play in the same world.