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Yes you can. Same as you do any other community. Find the one you want to sub to, hit the three buttons in the top right corner, subscribe.
Perhaps I asked the wrong question.
How do I get to the community in Voyager?
When using Search, click the third option after entering your query.
You can see below that a Kbin community shows up as an option.
Search a keyword, and several options will show up, choose the Community one.
Keep in mind if no one from your instance has ever visited the community it won't show up in this search. Then your best bet is to visit it directly from the browser then subscribe to it (that's my understanding, somebody feel free to correct me if I'm wrong).
I've always found them from the browser. Some have popped up on my "All" feed in app. I haven't personally searched on the voyager app so I can't speak to that. But the browser indeed works as you described.
No - that's the wrong way around. If no-one has been to it before, then search is the only way to get to it.
You're trying to get to your instance's view of the community right? That's the only one you can press subscribe on. That local copy won't exist unless someone has been to it before, and the only way to get it to if no-one ever has is via search.
Does Voyager's search work that way though? Search is not consistent across the different instances I use (and it has nothing to do with federation).