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No one is restricted to a single server. Open up the map page (M), there is a drop down list at the top where you can chose which server you want to go to.
If you're in a guild, just open up your friends list (F), click on guild, and there you will see the members of your guild, and who in the guild is on line. In addition, to chat with them, hit enter to open up chat box, click on the guild chat tab, and type away. Guild chat will show up in blue text, and is only seen be members of your guild.
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