It's not as snazzy as Discord but it's fully open-source and federated. So everyone can run their own server (I do, too). If you don't care about running your own you can just sign up at https://app.element.io/ . It's free of course. It basically is for chat what lemmy and mastodon are to social media.
It also offers many "bridges" to other protocols, like WhatsApp, Telegram, even Discord. Those are not quite as mature and mostly third-party provided but they generally work well.
There's a really great ansible playbook for installing your own. If you would like to have the full bridged experience, beeper is probably best.