I have not found any way to get a list of all users that are currently connected to a given voice channel.

As far as I know, the Discord API itself does not have a documented way of doing this, however, almost all libraries in other languages do provide this feature. https://discord.js.org/#/docs/discord.js/main/class/GuildChannel?scrollTo=members

I did not look into other libraries' implementation of this feature, but from what I've read it might be an undocumented behavior that for voice channels the recipients variable holds an array of users that are currently connected. https://discord.com/developers/docs/resources/channel#channel-object
If this is indeed the case then I could see this ending up being a feature of this library, perhaps as a Maybe for safety reasons or whatever.

Of course, you could just process every voice state update to keep a list of currently connected users, but I don't think that this should be this library's task.