2 answers
It's really case by case. Personally I reply to voice messages from my close friends, but if it's random or you don't have time it's no big deal at all. After that it also depends on your mood - sometimes you feel like hanging out and replying in writing is just faster lol. The thing is not to stress about it, people generally understand that you can't reply to everything instantly.
It depends on your relationship with the person and the context. If it's a close friend or something urgent, yeah I'd say it's nice to reply, but you're not obligated to do it right away. Personally I prefer text messages because it's easier to manage when I'm buried in my accounts, but I get that some people find calls faster. In the end, if you have the time and feel like it, that's cool, but there's no hard rule about it.
Your answer
Log into answer.