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You need to provide info on your hardware. Pocket-TTS does cloning on CPU, but for me randomly outputs something pretty weird sounding mixed in with like 90% good outputs. So it hasn't been quite stable enough to run without checking output. But maybe it depends on your voice sample.

Qwen 3 TTS is good for voice cloning but requires GPU of some sort.

Try training a model on piper, you will need to record a lot of utterances but the results are pretty great and the output is a fast TTS model.

Is it not just to train a model on your voice recordings and just use that to generate audio clips from text?

Why not just send text replies? You can already do that