Mostly, God speaks softly, but having experienced this myself, I know it’s possible. I concede that this is a rare occurrence and sometimes we misunderstand the words.
I prayed for direction, and God spoke so clearly, that I turned my head to check if I was alone!
His audible words ring in my head still. “You will be my prophet to fat people!” I thought he meant my weight loss clients, but over time, I understood he meant those needing a boost of joy, or encouragement.
Then there is Samuel.
Eli perceived that the Lord was calling the boy. Therefore, Eli said “Go, lie down, and if he calls you again, you shall say, ‘Speak, Lord, for your servant hears.’” Samuel went and lay down in his place. And the Lord came and stood, calling as at other times, “Samuel! Samuel!” And Samuel said, “Speak, for your servant hears.” (From 1 Samuel 3:7-10)
And Paul heard “Saul, Saul, why are you persecuting me?” And he said, “Who are you, Lord?” And he said, “I am Jesus, whom you are persecuting. But rise and enter the city, and you will be told what you are to do.” The men traveling with him also heard the voice. (From Acts 9:4-7)
Always the answer to an audible or inaudible God is “Speak, Lord for your servant hears.”.