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The person getting invited should get a pop up from gamebar regarding the invitation and they should accept, the game will put both you and your friend in a convoy, alternatively just use Join game option as that's much better in case the pop up is the issue and still does not show.
The same Gamebar overlay can be used to add randoms (players you've recently played with), just simply open the overlay using Win+G (Win = Windows key). On the Xbox Social window, there's an ellipses button (...) right above your friend list, click on it and you'll see "recently played with", click under Forza Horizon 5 and you shall see a list of players you've played with dating back to a week (they are sorted by most recent and it shows exactly when did you play with them), if you can recall their gamertag, you can add them here as friends.