This is actually common in many other cultures and I wish it was more normalized in general US culture.
That being friendships where there is no need for a reason to hang out besides the company.
I live in NYC and I have some select friends who also grew up culturally outside the US and we do this:
If I asked them what they were up to, they'd say something like "going to the barbershop for a haircut", "doing laundry at the laundromat", or other errands.
I would then ask to tag along and maybe say a thing or two from time to time, but for the most part I'm doing something parallel to them.
Usually I'm reading a book, checking my phone, watching Netflix, working on my laptop etc.
It's great.
There's no need for an excuse to be with these friends.
That's true based on my limited experiences. My people in Cuba don't feel the need to talk all the time and tagging along for an errand is generally welcomed and appreciated.