Joe Jonas & Wilmer Valderrama Hanging Out

Joe Jonas and Wilmer Valderrama have Eskimo bro etiquette down to a tee -- date the same woman, give thy brother a lift.

We got Joe and Wilmer looking chummy on their way out of Zinque in WeHo. Watch what happened when our photog asked about their shared history with Demi Lovato ... the bros know the code.

We know they're kinda modified EBs -- since Joe was doing the "purity ring" thing when he was with Demi. Still, nice to see they can hang.

FUN FACT: Wilmer took shotgun and Joe drove. #1 always drives ... textbook EBs.