I do not believe many people in history, if any, have actually heard God's voice. The way we listen to God is not through our ears, but through our hearts. The way we talk to God is through our love, our faith, and our prayers.
To have good communion with our Lord, we must stay in His favor. This means doing all the things that God approves of, such as looking out for each other and practicing what we preach. Fellowship is an important Christian principle, but sometimes, to really "hear" God's "voice", it's best to be alone.
"Jesus often withdrew to lonely places and prayed." (Luke 5.16)
Jesus loved addressing big crowds, but he also knew that solitude was the perfect state in which to talk to God. The crowd will push and press, urge and persuade, and finally drain away your energy. So we need solitude to find the clarity of thought required for learning to see ourselves as we really are and discovering God's mission for us. Without this guidance we end up going down false paths, dead ends, constantly stumbling and never achieving anything worthwhile.
God will give us guidance, not perfect humanity. There is no such thing as perfection for anyone, and God does not need us to be perfect to effect His perfect will. But he does need loyalty, love, and action. Sometimes He talks to us using people and events; the Holy Spirit is the enforcer in this respect. Often, the things some people might regard as coincidences, are the workings of the Spirit trying to communicate with us. Affirmations, coincidences relating to specific events we have been praying about, after after the event to show us that we are on the right track. Remember God can only produce good things and His timing is perfect. And sometimes you just know when you know, that something supernatural is happening in your life. We know when God is moving things because they happen so easily, without effort, without pressure, like oil under our feet. There is no guilt associated with the things we do for God, only a lasting sweetness.
Find your own quiet place and pray. Return to it again and again, until the word of the Lord overwhelms you with the power of its message. Unless you feel swept along by right purpose and fine ambition, channeled from the Divine, you will not last long on your career path.