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This is based on Matrix and not the Fediverse (also opensource and decentralized) but this is close to what you mean I think: Third Room https://thirdroom.io/
if there is none, how could it work? I'm not a dev, i work in design, UX, art. however this seems excellent system https://aframe.io yet I'm sure are others. runs in the browser, super fast, the code is just simple human readable, text, so works with HTML, JavaScript.
Not sure if Mozilla Hubs federates, but as already said, ThirdRoom is Matrix VRchat thing.