I prefer voice calls much more than video calls because I find them way less awkward and business-like. At the same time I talk to my friends and family on discord a lot so it seems very natural to me. I'd rather just meet someone in person than do a video call because for video, I still have to look presentable and can't do chores or something while talking.

I don't always suggest a call but when I do I just try to frame it as its own thing rather than a requirement. Like if I chat with someone for a few days I'll just ask them if they want to talk on a voice call some weeknight and leave out the "before we meet" or "to screen you" part or whatever.