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Back when we thought there would be tons of Voyagers (V’ger was meant to be Voyager 8 I believe)

Voyager 6. Lost in a black hole.

When it meets the self-replicating vonNanomans machines, roaming the vast emptiness between the stars, integrating it into their flock.

Are there a books with this premise ?

I don't know exactly. I think there should be. For a funny novel of a failed interstellar von Neumann probe, there is https://en.wikipedia.org/wiki/Code_of_the_Lifemaker

If that is too long, or not your thing, just the prologue (linked from there) is still good enough :-)

They need to send it a message to leave the nice bald lady alone.

IIRC the nice bald lady (played by https://en.wikipedia.org/wiki/Persis_Khambatta ) got all one could ever wish for in the end, together with former Captain Decker.

Und wenn Sie nicht gestorben sind, dann Schweben Sie noch Heute!

Good ol' esoteric Star Trek references