Unable to connect to voice channel

[ghost]

Hi,
I am trying to make my bot connect to a voice channel and do some actions while in it.
But even though I can observe the bot connect to the voice channel, I'm unable to use the connection in any useful way.

This is my code:

_, err := dg.ChannelVoiceJoin(guildId, channelId, true, true)
if err != nil {
    return err
}

When this code executes, I can see the bot join the voice channel and the console shows this message:

2022/12/13 15:03:32 [DG0] wsapi.go:788:onVoiceServerUpdate() onVoiceServerUpdate voice.open, 
did not receive voice Session ID in time

What am I doing wrong?