I am working as a voice actor, so I'm definitely biased here, but I can tell you that the opinion of most studios about this would be yes. When I look at what jobs are available when it comes to games, rpgs always make the largest part by far. Naturally, since role play games are all about roles, about characters.
An interesting story ist the story of intersting people, so you want to show them to your players, you want them to know who they are and why they are doing the things they do. You want to express their feelings. Of course this is possible via text alone, otherwise books wouldn’t work, but if you’r not an author, but a developer you want you surely want all kinds of gamers tob e able to enjoy your story, not just the ones who are also into reading books.
If you give your characters a voice, you don’t need to count on your players imagination to convey feelings or sarcasm or emphasis.
There are several rpgs that live off their good voice acting, imagine games like Mass Effect or Dragon Age, or even The Witcher without the character voices.
Buuuuut of course the answer is it depends.
It depends of the kind of game you are making.
For the JRPG like games, I don’t think they suffer too much, if there is no voice acting, especially if they aren’t focused on dialogue, but it’s always nice to have. If people don’t like it, they can just turn off the voices (of course you definitely need to give this option to your players).
I personally don’t like the battle cries, if there isn’t regular voice acting too. If I read the character’s dialogue, I have an own voice fort hem in my head, so I’m always put off if they suddenly start making noises in a voice that just doesn’t resemble what I have in my head, when I read.
For Horror RPGs it can add a lot. Hellblade even tells you to wear headphones becuase the voices do so much and this is one oft he most atmospheric games I ever played.
In a visual novel I would also strongly recommend voice acting – a lot of older japanese visual novels were remade in a Full Voiced version and sold a lot better than before – again because you can get all the people to play, who do enjoy a good story, but aren’t so much into reading, especially on screen.
So yeah, those a the kinds of RPGs that came to mind at first, when I started thinking about this. All in all, fort he kind of games we are able to make, I think it can add something and I would totally enjoy it, but it’s not necessary form e to enjoy a good game.
Bad voice acting however is enough to make me quit it. So if you don’t have professional actors to do it: Don’t. A game can feel very polished and professional, even though it’s made by a solo-indiedev, but if there is any amateurish voice acting the whole impression is ruined.