How do I join discord Server?

I would like to know how to join discord servers as I think these are a good alternative to the Ps4 communities that have been removed.

I know that you always need a link for discords, but can you just join servers without a link? And if not, where can I find such discord links?

https://disboard.org/de

You enter the tags, in your case gaming and ps4, and then you look for a server that you like and join.