AFAIK, no, but you also basically don't have to interact with the randoms either. I don't get much out of it, but I have to admit when I went back to play FH3 to get one of the forzathon cars it was sorta disappointing to realize that the other drivers out there were just AI and not real people.
If someone you know is playing, there's generally a tile on the Horizon tab that lets you jump into their server. That said, I'm not sure what you do at that point because the "convoy" system seems completely broken. I'm not even sure what it's supposed to do outside of telling you one of your friends joined your convoy, then immediately telling you your friend left your convoy, and even if they didn't leave, I'm not sure what you're supposed to do in a convoy.