What is all this anger towards not being able to join a server your friends are on? Its very much common. Any Mmo with a server based system will have FULL servers which you cannot create characters on, which also happens to have your friends on as well.

Also if your 'Friends' truly want to play with you, they would not mind creating new characters on empty servers for you all to have fun together. Otherwise just wait for an option to transfer servers later on while you're playing Solo in the meantime.