Yes, people from the same household can “spot” the other person in close proximity.
If you are from a different household then you must wear a mask and wipe the equipment down that you touch in between sets whilst socially distancing.
If someone is in a dangerous situation and needs help immediately then assistance can of course be provided to prevent a potential serious injury.
This would not be expected to be used as an excuse to spot people consistently without the use of a mask though.