possible, but still it’s a problem for me. Never liked Discord and was always happy with TS. But when I started playing with a friend using XBox I was forced to use it
In my world the biggest advantage of Discord is the Availability on consoles allowing voice chat for crossplay. For all I know none of the alternatives you mentioned is available for consoles. I know there are people connecting their PS/XBox audio output with a computer running TeamSpeak to receive VoiceChat and in Game Sound from the same system but this is not a usable solution for most people.
Hate it but currently the online doable voice chat for crossover gaming PC and Xbox. We really need a Teamspeak-App for Xbox