Since Discord arrived on Xbox, several updates have been made to make the app as accessible as possible, as is already the case on PC.

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At the beginning of July, Xbox had announced these changes, but they would only be available to its Xbox Insider members before going public. But now, they are already available to everyone.
The changes include:
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The list of Xbox friends who are playing or talking in voice chat is now in a new tab called “Happening Now”.
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It is now possible to call your Discord friends directly on Xbox.
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Now, when your friends are streaming in a voice channel, you will be able to watch them from an Xbox Series X|S or Xbox One.
All these improvements are available on Xbox Series X|S and Xbox One.