How can we connect this?
As in Plivo SIP trunks?
Yes, do you know about this LiveKit self-hosted integration with Plivo?
Yes. Plivo is a LiveKit provider, so it has dedicated user guides. See below.
Yes, you can be able to connect a self-hosted LiveKit to a Plivo SIP Trunk (both inbound & outbound). Please follow the docs that @troy has shared.