There's no automated announcement of joining or leaving in the discord. You'll be able to join quietly and just listen to the conversation until you feel comfortable talking. Nobody will pressure you or call you out for it. If you need help, don't be afraid to ask, everyone there wants to help those who ask for it. Or if you just want to rant to a friendly audience, they'll do that for you too.

And if you have questions feel free to DM the mods/admin, they'll answer any questions you have. In all, they're a friendly bunch.