const guildChannels = await client.guilds.cache.get('my_guild_id').channels.fetch();

await guildChannels.forEach( (channel) => {
  if (channel.type !== ChannelType.GuildVoice) return;
  if (channel.members.size === 0) return;
  console.log(channel.members);
  // channel.members
});

const guildChannels = await client.guilds.cache.get('my_guild_id').channels.fetch();

await guildChannels.forEach( (channel) => {
  if (channel.type !== ChannelType.GuildVoice) return;
  if (channel.members.size === 0) return;
  console.log(channel.members);
  // channel.members
});