'As you can see, we only ever use the vous form.'
Does that mean you use the vous form even if speaking to a friend with whom you'd normally use 'tu', or does it mean you wouldn't use vouloir imperative at all with such a person (in which case, what would you say?)
As Chris said the use of 'veuillez' is extremely formal so you will only use it with people you don't know as a polite request.
veuillez patienter = please wait
veuillez me donner vos coordonnées = please give me your contact details
If you were talking to a friend you will not use 'veuille' ( the tu form) but instead say something like
Tu peux m'attendre s'il te plaît ?
Veux-tu m'attendre s'il te plaît ?
which is equally polite.
Hope this helps!
Using the imperative of vouloir to ask someone to do something belongs to a higher register. You wouldn't use that construction with a friend. There are other ways to ask a friend to do something, e.g., imperative + s.t.p.:
Attends-moi, s'il te plaît. -- Wait for me, please.
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