I'm gonna jump into this thread to not open a new one, since maybe the issue I'm running into is the same people are asking about here:
Does using Discord on console affect the ability to switch back into the game world audio channel in any way?
I've been finding this issue where, while on Discord chat with a friend, we can't switch back to speaking with others in the game world despite that option being available as in Xbox party chats. You select switch to game chat, and no one can hear you, neither the friends you were connected with a second before nor the other players—indeed the green speech bubble icon that appears on a corner of the screen to let you know you can be heard doesn't show up either.
This seems to be limited to Discord. When I log into the game normally everything is fine. It's only once I start a conversation with someone on Discord and then we transfer it to the console that everything gets messed up somehow.