Help getting split screen online question

My friend and I both have ps4 plus accounts we want to play with each other and each have our irk friends playing split screen with us. We know how to have guests join in but guests loose all progress every time you log out. I’m wondering if there is anyway all four of us can play with saved characters on two ps4’s without having to get two additional PlayStation plus accounts?

Does PS+ have a “family members” option? If so, that would be one way around the issue.

I can’t find one, but being new to ps plus I’m not entirely positive