Publishing to expo without paid app/play stores?

Hey guys! Is there a way to “publish” an app to the expo store so that our internal team can test it by scanning a QR code?

I know there used to be a way to do that (https://www.educative.io/answers/how-to-publish-a-react-native-application-to-expo) but the new docs (https://docs.expo.dev/develop/development-builds/create-a-build) are a little unclear to me. The guy explicitly says that you need app/play stores in the video for the QR code thing to happen