Custom VoiceOver Grouping on iOS?

Hello,
I have a joint issue in my hand, so I need to avoid too much repetitive motion. Because of this, I enjoy using grouped navigation to avoid swiping through clutter.
However, I use several non-standard apps and websites. They have many elements I must navigate through to reach what I'm looking for. Some of them even have "categories" (i.e., a cluster of elements at the bottom that should be a tab group but is not labeled as such to VO).
Is there any way I can create my own interactable navigation groups within apps or Web pages?
For example, Discord for iOS has a list of servers near the top of the navigation drawer. If a Servers group was created, I would not have to swipe through all the servers; I could simply click past the group and reach the next relevant control.
If I cannot customize grouping behavior, I will do my best with the rotor, but since many of the apps and sites I regularly visit are not optimized for screen readers, it would be ideal to have control over this.
Thank you for any input!