In the event your friend receives an error message when accepting your invitation, try re-inviting them.
When in doubt, opt out of the beta for the best odds of troubleshooting success. If you can't invite a friend to Remote Play Together, make sure your Steam clients are updated to the latest version and that you're either both opted in or out of the client beta, since disparities can cause issues. Here are a few common troubleshooting solutions to basic problems.
Remote Play Together is a new feature, so you might encounter a few issues or bugs.