Is there any form of matchmaking as of yet?
We do not currently have any way to automatically sort you into groups with other players as a kind of "drop in" style of forming parties. We are looking at additional options for finding parties, though not being implemented for 0.9.2.
Currently you need to seek out other players to play with. Alongside outside approaches, With towns you can also encounter players in town, and link up with them using the dedicated Town chat channels.