The feature to invite people with a direct link is only available to Managers and Admins. And the security settings ruling who can join through this link is only available to Admins.
Sharing a link with people where they can join you in hives is a really easy way for people to join. To find this link you simply click on the + button in the header, and then "Invite". There you will find a section saying "Invite with link" where you can copy the link and share with anyone you want.
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Note that it will only be open for people to join if they match the settings you have made for which domains that can join. To change these settings go to "Admin" and then "Hub" to find and adjust this to your needs.