Can I play with PC players when playing GTA 5 on the Xbox one?
Technically feasible it would theoretically already.
Most of the game publishers use different servers for different platforms. PC players log in quite a bit elsewhere as a console player. So that does not work in practice.
No. That would be unfair because console players have auto aim and can easily kill other players.
On the other hand, there are PC lobbies where this car Aim is disabled, which then the console players are inferior to the PC players again because you can't aim with his joystick just as precise as with a mouse.
There are still plenty of reasons why Rockstar has other reasons, but that would be the obvious thing that comes to my mind.