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I am setting up multiple Zoom rooms as a Teams calendar resource using Direct Guest Join.
I may be overlooking this, but is there a way for a room to join the meeting without sitting in the waiting room first?
Yes, but only the meeting host can do that, as it will require configuration on the MS Teams side.
To be clear, the Zoom Room joins a MS Teams meeting as an unauthenticated guest, so the MS Teams host needs to set up the way guests are supposed to be handled. This document can help: