RWTeleport adds the following commands to the chat box:
/tpa [player] - Sends a request to the player for you to join them where they are
/tphere [player] - sends a request to the player for them to join you where you are.
RWTeleport is consent based meaning, when you send a request, the target player receives a pop up gui window that asks them to approve or deny the request.
Planned for the next version
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Ability to block players from sending requests
Download
RWTeleport.jar (Requires RWGui)