I just wanna hop into a server to play with my friends and not have to wait on a host to start the server.

Can I find servers like these ingame or do I need to look through the discord?

You can find one; use the Looking For Group chat sub forum (right side of the Steam window has a list when viewing the base forum listing ie General. You could also pay a service to host the server for you so it's always up, lots of threads on that exist already. Cheers!