This feature is designed for the visually impaired.
Go toMenu>options>All options>General & Privacy>Accessibility>Voice Guide options.
Say,Turn off Voice Guide.

What Is Voice Guide on Samsung TVs?
It also provides an audio cue whenever you switch between connected devices.
FAQ
Some Samsung TVs let you control them verbally while holding theVoicebutton on the Smart Remote.
To deactivate this feature, pressMenuon your remote and go toSystem>Voice Controland turn the switch to off.
You may also find this setting underSettings>Smart Features>Voice Recognition.
Toreturn your Samsung TV to factory defaults, go toSettings>Support>Self Diagnosis>Reset.