“And they heard the voice of the LORD God walking in the garden in the cool of the day: and Adam and his wife hid themselves from the presence of the LORD God amongst the trees of the garden.” (Genesis 3:8)
When Adam and Eve were in the garden of Eden, God “came down” to them, and “walked” among them. We don’t know exactly how he did this, but we could assume that he took the form of a human being, like he did when Jesus was born, except in this case it was the “pre-incarnate” Son of God (I won’t speculate any further than that right now, but that is the plausiable scenario I think, which some people call a “theophany”).
So here you have a “theophany”, or a “pre-incarnate” form of God walking in the garden of Eden. We see from other parts of Scripture that this was not an isolated incident. For example, the Lord also appeared to Abraham “by the terebinth trees of Mamre” (Genesis 18:1). Again, we see the “angel of the Lord” appearing unto Manoah and his wife in Judges 13. Their response was “We shall surely die, because we have seen God.” (Judges 13:22b) (The angel was more than just an angel!)
My point is that the appearance of God in some physical/tangible form is not isolated to the Garden of Eden. But rather, there are numerous instances in both the Old Testament — and of course in the New, with Jesus — of God being in a “perceptible” form. Now Genesis 3:8 says that Adam and Eve “heard the voice of the LORD”. And all throughout Genesis 18, the Lord is speaking with Abraham in a tangible manner!
Does the Lord speak today? But of course! “For I am the LORD, I change not.” (Malachi 3:6)
If you are a child of God, you are entitled to hear his voice! After all, he is your Father, and you are his son or daughter! What father is there that does not speak to his children? God does speak to his children through ways that are always consistent with his word but not necessarily dependent upon it (in other words, the word of God does not have to be open for God to speak to you. That would limit God, don’t you think?!) But rather, as it says in the book of Joel,
“And it shall come to pass afterward, that I will pour out my spirit upon all flesh; and your sons and your daughters shall prophesy, your old men shall dream dreams, your young men shall see visions: And also upon the servants and upon the handmaids in those days will I pour out my spirit.” (Joel 2:28-29)
If you are not sure if God has a voice, ask him to speak to you, whether through dreams or visions or through many other means that God uses to speak with his children. Ask him to make it clear, and he will, for he is your father!