I need the bot itself to exit the discord voice channel, I do not know how to do this, please help.
I tried to kick the bot using the ID, but I couldn't do it.
event.getChannel().asVoiceChannel().getGuild().kick(UserSnowflake.fromId(id));
Since you connected to the channel using guild.getAudioManager().openAudioConnection(channel)
, the logical opposite is how you leave it with guild.getAudioManager().closeAudioConnection()
.