This notification pops up when DefaultVoiceEnabled = false. According to this doc post, this is the intended disabling method for specific places under an experience. Voice Chat | Documentation - Roblox Creator Hub
This is currently happening on my game: [SELL🛍️] Be NPC or DIE!💢 - Roblox
Expected behavior
I would expect places with DefaultVoiceEnabled = false not to show an error telling players to rejoin the game. Developers are setting it to false so the voice chat is not enabled in that place. Intended game design choices by developers are unintentionally causing players to rejoin thinking their VC is broken.
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