Arcana Coelestia # 9307
9307. 'And hear his voice' means obedience to the commandments received from Him, that is to say, from the Lord. This is clear from the meaning of 'hearing' as obedience, dealt with in 2542, 3869, 4652-4660, 7216, 8361; and from the meaning of 'voice', when it refers to the Lord, as God's truths, dealt with in 7573, 8813, thus commandments received from the Lord. God's truths and the commandments received from the Lord are those contained in the Word; therefore also the Word and teachings drawn from the Word are 'Jehovah's voice', 219, 220, 6971.
Arcana Coelestia # 220
220. 'His voice going to and fro' means that only a residue of perception was left, so small as to be solitary and inaudible, so to speak. This is also clear from the next verse in which it is said that Jehovah called out to the man. A similar usage occurs in Isaiah,
The voice of one crying in the wilderness; the voice said, Cry! Isaiah 40:3, 6.
'Wilderness' stands for a Church where no faith exists; 'the voice of one crying stands for the declaration of the Lord's coming, in general for every declaration of His coming, as is made to regenerate persons who have this dictate residing in them.