Yes. Oddly, they didn't have voices in Space Quest 5. This video made me remember the array of toppings in Monolith Burger - "I'm a watery, flavorless substance with a passing resemblance to mayonnaise!"
This was back when you either got the basic floppy disk version, or the CD Rom version will all the recorded voices and other features. Sierra did that a lot back then.
This was also back when sound quality was terrible and all video game acting was done by the programmers and secretaries. Missing out on the voice acting was a good thing.