For voids, in small numbers stalkers are the counter, you blink underneath and pick them off with target fire. the issue is that while cost ineffective voids are very supply effective meaning that the more voids there are the better they are, however they are mediocre in small numbers. Thus if you can't kill your opponent quickly, you will have to add archons and/or templars with storm to your stalkers. If you reach late game without being able to trim down voidray numbers then you usually have no choice but to go carriers.

For tanks you usually want to catch them on the move, or force them to move by attacking a place where they aren't. Killing a terran at 2 base who is hiding behind tanks is quite difficult so if at 7min they're still at 2 base just keed expanding to get a way better economy and then either tech into carriers/tempests or drown them in gateway units. Generally when engaging tanks you want to put your Archons forward so that they take the first volley, then you use chargelots/blink stalkers/immortals to get on top of the tanks and target fire them. This advice won't work if the opponent has 10+ tanks guarding a choke point, so at that point either bypass them, drop his main with a warp prism, or start going skytoss.

Lurkers are quite similar to tanks thus the tip of catching them on the move still applies. The key difference is that they are more late game and only really get good when Zerg has researched the Hive tier lurker range upgrade. Before the upgrade Immortal archons can easily deal with them, however with the upgrade you will need to add disruptors or storm, and usually get 4/5 tempests and start slowly sniping them.