The main two ways to volunteer for the PSF are to join a Working Group or help out with PyCon US. After some time volunteering in the community, you could run for the PSF Board or become the PyCon US Chair/Co-Chair.
Working Groups include Code of Conduct, Diversity and Inclusion, Grants, Infrastructure, Python Job Board, Marketing, Packaging, Scientific Python, and Trademarks. These Working Groups ebb and flow with activity, so if you don't get a response, you can try another group or take on the effort of reviving the group!
Volunteer roles for PyCon US include organizing for PyCon OX (the virtual event), helping out with the PSF Booth, staffing is needed for registration, information desk, green room, swag handout, sessions, PyLadies Auction, and Code of Conduct Response. This year, some of these roles have already filled up, but there should be some available still!
We will let you know soon how to volunteer for PyCon US.
Working Groups Link