I'm trying to figure out whether my friend who hates doing dungeons with DF queues, can bring me along for the ride into the Trust System.

It says "Do it with up to three NPC allies", which suggests you can use Trust to fill out party slots in an undersized group, but I've found an unofficial post on it saying single players only.

I feel like the description of Trust is either misleading or poorly elaborated, depending on which it is.