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Here is the error log.
It comes from,
https://github.com/discordjs/discord.js/blob/8a7abc9f06d44bf693e35a615bb6ba2c3eb1d6e7/src/client/voice/networking/VoiceWebSocket.js#L90-L99
WebSocket reconnection solves the problem, but why no connection here in the first place. The answer is:
When your bot in a voice channel for long time, days or weeks, it encounters the retry limit.
https://github.com/discordjs/discord.js/blob/8a7abc9f06d44bf693e35a615bb6ba2c3eb1d6e7/src/client/voice/networking/VoiceWebSocket.js#L66-L69
It emits the debug event only. I assume that handling at the debug event is a typical bad practice. So, I decided to reset the retry counter every 10 mins. I know it's not a good practice either but I'd say it is better. It should work in most of cases. If it didn't work, it would re-join the voice channel before playing audio.