Revolt feels like the good version of Discord.
I've not yet seen any discord-like B$.
It still suffers from some of discord's problems like no E2EE (yet - it's on the roadmap), UI/UX issues and being a web app.
See their FAQs about centralization, why not matrix and scaling/monetization.
I think with further development, Revolt will fill that gap for a (relatively) private FOSS messenger with a neat discord-like UI.