Thanks for the reply. I have a Samsung Galaxy S4 - the voice commands used to
work, but all of a sudden I started getting this error. Right now, none of the voice commands work because it doesn't even get to the point where it says "listening" - it goes from "waiting" to "no connection".
I've uninstalled and reinstalled the app several times, usually with a complete reboot of the phone in between. During some of those uninstalls, I also deleted the Waze folder from my phone's internal storage (which is how I got rid of the choppiness in the voice guidance that many others have mentioned). I've tried using voice when connected through bluetooth as well as when it's not connected, and get the error in both cases.
I've done a search on the forums for this, but didn't find anything relating to this problem - it seems your search skills are superior to mine.
The results I got all had to do with choppy voice guidance.