If you do a character for ten or a hundred hours then it becomes fairly easy to memorize them. Remember these are experts who have put in the time to *become* said experts, and just because it seems hard to use doesn’t mean it is hard for them.
Another thing to consider is that voice actors know when recording days are going to happen and can brush up on their skills and recollection in advance. Recordings exist; if they don’t quite remember how a character sounds they can listen to their previous performances and pick it back up.
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