Liam O'Brien reveals that Critical Role is interested in bringing back the live shows, but he doesn't know when it will happen. Critical Role has grown into a multimedia property spanning across the original actual play stream, comic books, novels, and animated series. Before the pandemic, Critical Role would run live performances as special events, often during conventions, that fans could experience in person while the cast played on stage.

https://screenrant.com/liam-obrien-critical-role-live-show-return/