Huh, I don't know if I've ever had server issues with Discord outside of the whole thing going down once or twice in the past couple years. I've heard people complain about it and it's baffling to me. Maybe it's a regional thing, which would be unfortunate, but the USW server work great as far as I can tell and I voice chat on disc almost every night for multiple hours.
I also have everything I want hotkeyed, so I still think that "far behind" is a huge stretch at best.
Our raid group (spread across Europe) has communications break down about 1 in 6/7 raid nights. Its quickly solved by swapping to US East but the latency is not great for our Eastern European players. We used to be able to bounce between Western Europe and Central Europe to avoid problems but discord recently pooled all the european servers claiming it would help solve issues like this, but it hasn't really.
Similar/same experience here: Friends are in Europe, I'm in SEA / Singapore. We randomly have the robot voice or people cutting out and then start the 'switch region' dance. Which might fix the problem for a while, but messes with the latency quite a bit then.