Here’s a thread where someone has a Discord server: Tree of Savior Social Chat
I bet there are numerous servers but thats not the point. I’d like to create one by us, for us, not hook to somebodys… unless its really grown up. I dont know if thats the case since it got so little attention on the forum.
Well you can try the server out and see it for yourself. You’re right that the thread hasn’t got much attention, but I personally wouldn’t go by that alone. I’m on the server too, and there’s a decent amount of people online. It’s not Tree of Savior exclusive so you’re right that it might not be what you’re looking for, but the people seem mature. Granted I’ve only been on the Discord server for a couple days. I’m just a messenger, passing the word around. 
I run this server linked above and all are welcome. We are more gaming general than just ToS general but we have quite a few playing ToS. I get and respect you wanting to make your own and you totally should, OP. <3
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In 2 days I will be working on this server, till now ppl lean toward Discord so I might hit @Ayanami and work on that together. I’ll post when its ready.
In the same time I encourage you guys to think this through, step out of your comfort zone if voice chat is an issue for you, and simply join us, I’ve heard ,here and there, many times that somebody doesnt want to speak cuz his/her english is bad, they never kept the promise. Often good is good enough + practice can only make you a better speaker.