I am having the same problem. We tried a whole bunch of things to get it to work and after about a half hour of trying things it just started working. No idea what we did to get it to work. Then we both had to go do things and disbanded the fireteam. When we tried creating a fireteam again we couldn't get the voice chat to work.
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We had something similar happen day 1. It worked for a few days but now not at all.