Yes. First I should mention that using voice commands for keyboard emulation is pretty cumbersome so if you have some other method I would use that. Still in a pinch sometimes it can be useful.
If you want to navigate on Kodi running on a remote system (e.g. not the same one that VC is running on) then you can't use keyboard emulation which is the default method.
Assuming that you've installed the preset configuration for Kodi 17 (and higher), your command tree should look something like the attached image.
Note that there is a group located within "Kodi Navigation and buttons" which is titled "Kodi Movement event client" and this group is greyed out which means that it has been disabled. Right-click the groups and enable it. You will also need to disable the group titled "Keyboard Emulation (local PC only)" so that the voice commands don't conflict with each other. After enabling and disabling the groups in the editor you'll need to restart VC. Alternatively you can enable and disable groups instantly in the groups window available on the main VC window but it's best to do it this way so that the setting is retained by default when you launch VC.
There is a setting in Kodi that must be enabled for these commands to work. They use the "event client" which is a somewhat antiquated way to control Kodi but I believe it still works and is probably faster than using the JSON api. If they don't work it's possible to create commands using the JSON api similar to the ones you will find in the group "Kodi simple actions".Ignore the above I can see that these commands have been updated and it's just the group name that was left over from the old method. In other words they don't use the event client any more.
Please note that I probably can't provide any more support today because I'm leaving for a trip in a few hours. I will be available to provide limited support on and off while I am travelling over the next couple of weeks. Nim5ter will probably also be able to help you on evenings and weekends (E.S.T). So just saying our answers might take a bit longer than usual.