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There is no easy way doing that but it is possible though you need a lot of experience in scripting (only peds). If you want to play with your friend and be chased by the cops then you should probably try to find a Cops N Robbers server. Which you can find here monitor.sacnr at the search tab type "cops and robbers" you can be a civilian kill a player or rob then you will become a criminal then cops will find you and arrest you. Then you will go escape, do some mad skill drift while your friend is shooting the cops behind, when your car got burn jump off then find another car. much better if you use nrg. so both you and your friends can shoot together.

You will enjoy this for sure!

I know you don't have that experience to script yet so people will tell you to do bot script blah blah.