Discord Voice Options

If you have ever played the game Squad on PC, the in-game chat is set to have different squad Channels with a Leader who is able to communicate with the Commander of the team. Members of the squad cannot hear Commander's chat and Squad Leaders can coordinate and delegate internally without drowning comms from the Commander chat. Is something similar possible in discord? I've been in discord voice channels with 40+ people trying to coordinate to achieve a common goal but is difficult to communicate over so many voices. Is there a way to have Voice Channels within Voice Channels Associated similarly to Squads where only allocated users can communicate to a higher level chat but can still internally communicate without having to move channels?