You can, we tried it already. Try to create a game for you and your friend while both of you are in the same team then change the game Category until you get the opposing team with AI with menus then you can start the game.
Just be sure you and your friend is on the game lobby already before selecting the category or it will put a unkickable player in your team
Just be sure you and your friend is on the game lobby already before selecting the category or it will put a unkickable player in your team