Allow Collaborators to join a project without sending an invite by generating a Share URL under your Project Settings.

Open Project Settings by clicking the three dots on the top right of your Project screen. Next, turn Project Sharing to ON, this generates a link that can be shared. 

Be sure to Save Settings or the link will not be enabled 👍

Be sure to switch Project Sharing OFF after the Collaborator(s) have joined the Project. If you remove a collaborator, they can rejoin the project as long as they have the URL to join and Sharing is still set to ON.

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Project Settings
Adding Users to your Project as a Collaborator
Account Settings

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