Is it normal it's difficult to invent new characters' voices when reading?

One thing I find really annoying about reading is that you have to imagine the sound of a character's voice when you're reading their dialogue. So whenever a new character is introduced I have to invent an entirely new voice just for them, which can be difficult. I want their voice to match their personality but without it sounding too cliche. Plus it's just difficult to imagine a large number of unique voices, eventually new characters start to sound the same as previous characters. That's one reason I like reading books/comics based on films or tv shows, since I'd already know what that character is supposed to sound like by listening to them in the film/tv show.