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You can invite or be invited to most ongoing missions. Everything can be done solo or with help of matchmade/LFG players, i.e. you don't need a clan or stack
Once you've completed a given campaign, there's frequently a rotating replay that includes automatic matchmaking.
The game has open world "patrol zones" these will have lots of other players in them and will have various Public Events that people will group up for, but there isn't any formality to it, it's just a bunch of Guardians working together.
There are also the playlists, those (at the Normal levels) all have automatic matchmaking. At the higher levels, you need a pre-made group.
And then there are dungeons and raids, and those are almost always premades (although some players can, and do solo dungeons).