U should have a certain amount of time to get into the darkness zone once the first person has entered. I just leveled a Titan to 21 and it's such a pain in the ass doing the strike playlist by myself or with just 2 people. With my main character it isn't a big deal because he is 29. Something needs to be done though
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If you go to the darkness w/o them and you die I believe your whole team fails and it will bring them along with you.