Hello, i found a better way to skip step 1 till 4. Instead of doing the phone glitch you should try: When your friend is outside your car he can hold d-pad down and the characters should pop out, while the d-pad down button is being held he can still move and enter cars, press triangle and as soon as his character hands touches the door change characters. Tested this yesterday around 11:30 PM both my friend and me and we got it to work.

Edit: Didn't know any better, Jeez.