Voice chat with Ps4 and Pc?

I would like to play a crossplay game together, but the game has no voice chat, but we still want to talk together (making calls is not so fun)

Can someone tell us what options you have to talk to your friend anyway?

Ps: We play Dauntless, maybe it has a voice chat

Dauntless has an in-game voice chat, so you have to be in a party. With games that don't have this, the whole thing gets a bit more complicated and requires extra hardware unless you are satisfied with using Discord on your mobile phone.