I've created a list of onion service nostr relays, feel free to contribute to the list with a PR
https://github.com/0xtrr/onion-service-nostr-relays
So would these only work with Orbot? New to this.
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Correct, your network traffic must be routed over TOR for them to work. So Orbot on phones or tor browser on desktop. Brave's Tor mode probably works too.
If you are a Proton VPN user, you can connect to their TOR-enabled servers