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Through the Steam Friends/Chat list (in Steam, click "View" and then "Friends & Chat"), you can send an invite there (click the little arrow next to their name and then select "invite to game"). Your friend can also join you via that same method if they select "join game."
Alternatively, open up Windows GameBar via pressing the windows key + G, go to the "Social" tab and look up your friend's XBox Live username and "Follow" them. Then have your friend do the same to you and "Follow" you back. Once that is done, they'll show up in the MCC under your friends list which lets you use MCC's in-game invite system.
It's also worth noting that multiplayer fully supports crossplay, while the only campaigns that support crossplay are H3 and ODST.
If you're unable to join through the Microsoft/XBox friend/follow system, try joining via Steam's Friends/Chat system.
This answer suggested that you did not try any of what I had suggested, and had in fact done something else. Then you made your new thread - the unedited version of which did not include the mention of trying to join via Steam Friends/Chat - so I reposted, hoping that perhaps it would help.
So no, I didn't think you had tried what I suggested, because you never should assume that someone has tried a suggested fix unless they specifically say they have actually tried it. Your edit of the original post in this thread now makes it clear that you did at least try, but had you initially included that piece of information then I wouldn't have wasted everyone's time with reposting advice that you had not indicated that you had already tried.
By the way, it's surprising how many people actually do need help with figuring out how to mutually follow and/or use the Steam Friends/Chat invite/join function. As such, most people offering technical solutions try to be thorough and offer the most basic of solutions before getting into more arcane fixes. It ensures everyone is on the same page, as well as having the added benefit of saving a lot of time if such a simple solution works.
With that out of the way, here are some additional questions that might help lead to a solution:
1) Have you successfully played MCC: Reach with this friend - or any friend - from your PC before?
2) Have you successfully played MCC: Reach with this friend - or any friend - from your XBox before?
3) If you've played MCC with friends before, what system(s) were they using? PC, or XBox?
4) Are you trying to play coop Campaign, or coop Multiplayer?
5) Have either you or your friend installed any mods for MCC? Have you and your friend verified the integrity of your game files?
6) This question is a long shot, but have you ever logged into XBox.com with your account? Has your friend ever logged into XBox.com? If not, then please do so to confirm that the relevant accounts are fully set up and functioning as intended.
Pro tip: if you start a thread looking for help with a problem, but eventually think you fixed it, post what your fix was instead of closing the thread with "I think I figured it out." It helps you keep track of what you have/haven't done, and it helps other people who may have the same issue find a potential solution.
Edit: Typo. Seriously, I genuinely would love for you to be able to play coop with your friend, but it's going to take a bit more information to see if we can help figure out what exactly is going wrong.