Connecting to voice connecting

Hi, I would like to know if it's possible to connect to the voice connection (to only send audio) only with the token, endpoint and sessionId, I don't have access to the bot token (this is how the project I'm doing works) and the client sends me those informations (as well with client id and etc)
I couldn't find anywhere to do that, is that possible, if not, is there any other way to do it?
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