Yes.
I use this website to find other communities that I might be interested in.
Then you can search for the community using the Lemmy web interface or whatever client app you use (I assume it’s Voyager).
I’m not 100% sure, but I think you need to type the community you want to search for, in the form:
!community_name@instance_name
On Voyager/wefwef (and probably other apps) it seems to work if I leave the “!” off.
You can browse the community, and subscribe to it from there.
Note: if the instance you’re signed into, doesn’t have anyone who is already subscribed to that community/instance, then it might take a little while, as your instance is searching the various instances it federates with to find the community…. So be patient. If you subscribe to it, of course, then it’s much faster (at least that’s my crude understanding).