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You can either use the session-wide link, persistent links, or single-use links.
If it is impractical to distribute distinct URLs to each participant, you can give the following start URL to all 4 participants.
https://floating-sierra-61355.herokuapp.com/join/u4ql58iqof/
Note: unlike the other link modes, this does not prevent the same person from playing twice.
If you want to give your participants permanent links that don't change, you should create your session in a room.
Below are single-use links, which you can distribute to your participants. Each link has a unique code for the participant.