Hello @UnbackedAunt467,
While I do not have an Xbox Console, I received some information for you.
From one of our Flight Crew members on Discord:
On Xbox at the social/party tab, there should be an option for discord voice. There it shows you a QR code that you scan with your phone where you have both the Xbox app and Discord installed. Then you connect both accounts with each other. When done, click in discord on a VC, pull the other options up and tap on “enter with xbox” (or something like that). It will then open the Xbox app where you confirm that you want to join via Xbox. It should do so then on the Xbox.