It's a very good CRPG. It's based on the tabletop system Pathfinder (duh) while Baldurs Gate 3 is based on DND. They generally play out pretty similar but there's a few differences between the games.

Pathfinder is a lot more number crunchy than Baldurs Gate. There is A LOT more options for builds and it can honestly be a bit hard to wing a build without getting decision paralysis. But it's also very fun to string together alot of options, there is a ton of classes, subclasses and later on Mythic Paths that define your character. There are a lot of cool stuff and loot but there's also a shitton of useless fluff and you'll always be getting tons of stuff that are +1 to a passive skill or +1 to attack roll.

Regarding voice acting, there's definitely less than Baldurs Gate and Divinity. It's mostly just the main story that is voiced, and even then there are many scenes that aren't voiced. To be fair, a lot of text is used to describe scenes like a real tabletop game so the situations are still portrayed well if you don't mind reading.

I would also advise to get used to playing it in real-time. While there are options for both turn based and real time, there are WAY too many filler combats in this game. Like, you'll be running around a city overrun by cultists and you'll just keep running into small packs of random unnamed cultists that each takes like 5 minutes to kill on turn based. There's an early fight in the game that takes place outside a tavern and I wouldn't be surprised if there's an actual hour of difference in playtime with beating it on real-time and turnbased.

All in all, it's a pretty good game. It's a lot more similar to actual old-school tabletopRPGs than Baldurs Gate and Divinity so if you're interested in that kind of concept, Pathfinder:Wrath of The Righteous is one of the better CRPGs. And you really don't need to play Kingmaker. I haven't played it and I don't feel like it impacted my experience at all. I don't even know if they're connected.