You can jump directly into Drawpile's IRC chatroom using the web chat. Just press the "start" button and talk away, you don't need an account.
If you already have an IRC client, you can join the #drawpile channel on libera.chat.
You can ask for help, talk about development, give feedback, provide suggestions or report bugs here. It's not meant for advertising sessions or finding people to draw with, take a look at the community servers for this!
For other ways to get help and contribute, check out these pages.