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Expeditions are also more forgiving than playing through a level by yourself as you have the "Assist Gauge" which allows you to die multiple times collectively (and your teammates can manually revive you if you die to try and salvage some of the assist gauge, so if you die it's usually a good idea to not self-revive if one of your allies is nearby as they will likely try to revive you themselves ASAP) before you "fail" a mission and have to pick up your progress from the last Shrine the host used. But Expeditions also compensate for the extra players by adding in new enemy spawns and padding their health so that you need to deal more damage before a given enemy goes down....particularly when a boss is involved.
If you are only playing with one friend though, you have the option to make one of the player slots private so that only your friend can join in that slot, and then you could leave the other slot open so a random person can also join in, or you can lock it so that it will only be you and your friend.