From the initial BFv screen - You can see which games your platoon mates are in - you can select right from the first menu by clicking the window which has your friends in. If you get the server full error, you can easily join the server by clicking the 3 pips (menu) in the same little window.
Click server info and you can then join from this new screen without having to find and add the server number.
Simples.
Joining Friends
Moderators: Admiral of the Fleet, Vice Admiral
Re: Joining Friends
Joining from Origin worked fine for me, but it seems to have broken since the last update.