The Better app offers accepted-friend challenges over one, seven or thirty days, including steps and sleep scores. Joining social is optional.
After joining, your profile and daily scores are visible according to your social settings. You can choose friends-only and hide individual metrics and profile details. Private journals and lab files are not shared to leaderboards.
What would make a challenge motivating for you? Which stats would you want to show, and which would you keep to yourself? This website Club is separate from your in-app friend relationships.