A single command is required: >lfg
This sets/removes the text channel in which it is executed as LFG channel.
Only users with ban_member permissions can execute the command.
The bot now checks each sent message in this channel whether the author is in a voice channel.
If the author is in a voice channel, the bot deletes the original message and reposts its content along with the matching voice channel.
This allows users to easily join the voice channel without invite links.