Is it possible to see members of a voice channel if its usually not visible to you?

Hey,

we have a community-server were people may apply for different game titles. Depending on which titles they have applied to, they are able to see certain categories. (Text & Voice Channels)

Overall, it would make sense to set the channels so that even if I have not subscribed to Valorant, for example, and do not see the corresponding text channels, I can still see the voice channels as long as players are in them. I can't join directly, but I see that the discord is busy.

Is this possible?

Thanks in advance.

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