You may be in luck. There may be a solution and it involves a few clicks. Fairly simple.
Disclaimer: This is a third-party software. I am not affiliated nor do I receive any benefits. This if for educational and research purpose only. Use at your own discretion.
After searching online for a solution to your problem I came across some software but only one stood out to be the best solution. This is a paid program, however, it does you "full-limited access" to "a specific data file" (i.e. Voice Memo). DO NOT SELECT ANY OTHER FILE!!!!!!!!!!!!!!!
Assuming you are using a Mac:
1.) Download the third-party app (https://www.minitool.com/download-center/) MiniTool Mobile Recovery (OS Recovery for Mac 1.4)
2.) Run it (You DO NOT HAVE TO MOVE IT over to your application folder)
3.) Select your backup location (iPhone/Table, iTunes, *iCloud - you will need to sign into your iCloud if you select this option)
4.) Select backup file and it will start to scan. It may take over 5 minutes to complete. Patient. (If your backup is encrypted, you need to put in your password)
5.) Under "Memos & Others, SELECT "VOICE MEMOS" ONLY. DO NOT SELECT ANYTHING ELSE!!!!!!!!!!!!!
6.) Press Recover and Select were you to want save your memos.
After completing these steps you should be able to AirDrop or Move to iCloud, or other media device for safe keepings.
Hope this helps. Let me know.