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Unless they want it to be possible that people see their content.
That’s what the airwaves are for.
But no, really, Youtube is neither that open nor that essential that the people not there are Somehow Invisible on the Internet. And even if that was somehow the case, you actually don’t need to upload video, you can just use a normal youtube account to comment and link your content wherever relevant “conversations” lead there.
If Lemmy were to integrate with Matrix the storage costs would explode exponentially, the two systems are notoriously heavy! (Lemmy is consistently the only service that fills more than 1 GB of storage in my browser and refuses to clean up).
XMPP is the true inheritor of IRC when it comes to standard, federated, self-hostable chat / messaging.