Create a new stage channel in your Discord that can only be accessed with that specific role.
Create a text and/or voice channel with the same permissions so that viewers can chat with each other.
On your Crue dashboard, create a role reward for that role.
Set the limit of redeems to the max number of people you want in this stream.
Make an announcement on socials about the intimate live stream.
If you’d like to make this routine (e.g. once a week), make the role a temporary role with a duration of 7 days. This way they have to rebuy each week for access.