You could set notifications for when someone joins a voice channel. (I wouldn't recommend having notifications for a specific person cause that could be taken advantage of and seems pretty creepy ingeneral. I guess someone could just set notifications for all voice channels but on the plus side it would be annoying since it'd be for anyone joining)
If someone joins a voice channel but they're invisible, it won't set off a notification. I don't know about someone going online while already in a voice channel though.
You should be able to go into your user settings and select who can get notifications that you're in a voice channel. You could do the same but in server settings. Say in your server with friends you'd want people to get a notification but not in a public server.
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