VR co op
VR co op
VR The Diner Duo is the closest match to what you're discussing.
Other titles like Payday 2, Elite Dangerous, Project Cars 2, DCS World, Star Trek Bridge Crew, and Tee Time Golf all support crossplay between VR and non-VR players, though they would need a second PC and a second copy of the game. There might be more options, but I'm not sure.