Joining with an invite link
Whoever manages people can share a coded link instead of inviting each person. Members → Add members → By invite link has the link, its 90-day expiry, Copy link, Regenerate and Disable or Enable. The same block is in Organization and access → User provisioning for whoever manages people.
Each domain also has a Discoverable switch: turned off, that domain stops opening the workspace on its own and its people join only through the link or an invitation. Anyone who joins through the link becomes a member with a Standard seat, without going through approval.
More in Managing members.