Yeah, its incredibly baffling. You cant form a band of adventurers with friends to experience the world and story together. That part feels so incredibly isolating, and infuriating considering GW2 and SWTOR manage to incorporate your party.
Its what makes selling the game to new people hard for me as well.
"But can we play together?" they ask.
"Na, only during dungeons that happen after every couple of hours of mandatory cutscenes." I reply.
"But can we quest together?" they inquire, hope leaving their voices.
"Sadly no, i cannot do overworld content with you outside of occasional fight events that happen on the overworld." I admit. "I could make an alt, but a lot of the time we just walk around next to each other."
"Lets play something else instead."