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No, I don't believe that is possible currently. That's something the devs I believe are currently working on. At the moment, all you can do is ask what server your friend's are playing on and join that way.
It doesn't work for me. When I click on "Join game" for any of my friends currently playing, it just loads the game and then sits at the main menu.
Bummer, it doesn't effect me too much as the vast majority of the people I play with are on Discord and easy to find, but I know many players use steam to connect with friends.