In voice over as in narration, we work with our voice, and if we do it well, we don't just read aloud, we tell a story. But the similarity ends there. Being an audiobook narrator is, for me, a different job from being a voice over talent. In advertising, corporate work, etc., we mostly work under time constraints. When there's no time constraint, as is often the case in e-learning, for example, a specific, professional, and engaging tone is required.
In audiobook narration, however, there are no time constraints or tone restrictions. One must be attuned to the mood of the story and its characters. This means we're free to take as much time as we need to tell the story, like a village storyteller would, living the story in front of – and with – their listeners.
This is also the goal in documentary narration. Time constraints are present, of course, but the narrator must immerse the viewers in the story they're telling. The audio guide must also transport the listeners into the universe they're discussing.
So yes, in advertising and corporate voice over work, we also need to connect with our audience, but in narration, we have a luxury of freedom. If, of course, we enjoy telling stories!