Matt and Tyler stopped and dined at a local hotspot, Bounce Beach Montauk, on Friday and danced the night away, E! News reported.
"Rachael and Camila were getting along great," an eyewitness at the party told the website.
"All four of them mingled with the crowd and were happy to take pictures with everyone who approached them."
Matt posted a surfer-themed photo on Instagram of himself posing with Tyler at the bar.
"Found The End Of The World," Matt captioned his post.
Rachael playfully commented, "Forever the third wheel," referencing Tyler and Matt's strong friendship that dates back to their college years.
On Saturday, the group took their double date back to Bounce Beach Montauk for the Dos Hombres Mezcal brunch hosted by the tequila brand's creators, Breaking Bad stars Bryan Cranston and Aaron Paul, according to E! News.
Matt then reportedly shared a video featuring his girlfriend and buddies sipping beverages together Sunday on his Instagram Story.
Matt, Tyler, Rachael and Camila later dined at The Surf Lodge and Matt uploaded an Instagram Story of himself in bed with dessert to cap off the day of festivities.
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Matt gave Rachael his final rose on The Bachelor's Season 25 finale, which filmed in late 2020, but the couple split in February when racially-ignorant and racially-insensitive photos from Rachael's past resurfaced online, including a 2018 image of Rachael attending an antebellum-themed "Old South" party at her Georgia college with sorority sisters.
Matt explained on After the Final Rose in March that he wanted to give Rachael some time to educate herself on racism in society and gain awareness. Matt apparently needed to know that Rachael could support him and truly understand his perspective as a Black man in America.
But according to Reality Steve spoiler blogger Steve Carbone, Matt could only stand his breakup from Rachael for about a month because he allegedly began FaceTiming with her every day following their ATFR appearance, saying he still loved her and wanted her back.
Matt and Rachael apparently reunited on April 4 in New York City to give their relationship another shot, and they've since had multiple hangout sessions in Los Angeles and Miami.
"There were rough patches in our relationship," Matt acknowledged during the May 25 episode of The Pomp Podcast, likely alluding to the fact he had been accused of trying to hook up with an old Miami-based flame named Grace shortly before flying Rachael to New York to see him in early April.
Matt explained there was a point in time when he "wasn't really honoring" the commitment he had made to Rachael to work on their relationship" but a "come-to-Jesus meeting" with Rachael got the couple's romance back on the right track.
Matt added, "The best thing about Rachael is her heart. She's the most kind, caring, and understanding person I've ever met... Everything we've been through, everything she's been through, she's stuck right by my side. She's continued to have a positive attitude."
Matt and Rachael have since discussed the possibility of Rachael relocating from Georgia to New York City, where Matt currently resides, and moving in together, E! News reported last week.
"Matt and Rachael are in a really good place right now and are getting serious. They are inseparable and talk all day, every day," a source close to Matt told the website.
"They have been making many plans to see each other so not a huge chunk of time passes before their next visit... [Rachael] has always loved the city, so it would work out well."
The source added that Matt "is truly in love" with Rachael and they "have a special bond" and "really turned a leaf in their relationship."
For Tyler's part, the Season 15 The Bachelorette contestant was first spotted with Camila in New York City in January but he has been keeping the relationship close to his chest.
Neither Tyler or Camila has yet to publicly address their relationship or post social-media photos with each other until now.