With discordsrv linking, if you could setup a voice channel and when a player joins it, it prompts ingame %player% has joined the ### voice channel.
Maybe also have a limit on how often it prompts that message for a player in case someone connects/disconnects often from bad internet or moving about to prevent spam.

I've attached an example of what Teamspeak did on an old server, this would be nice to encourage players to hop on.