Yes, it's entirely normal to have the voices of people you've recently been listening to or interacting with in your head after spending a significant amount of time with them. This phenomenon is often referred to as the "auditory afterimage" or the "Mozart effect."
When we spend time listening to someone speak or have a conversation with them, our brain processes and stores the auditory information. After the interaction is over, there can be a residual effect where the memory of their voice persists for a short period. This might lead to the perception of "hearing" their voice in your head even when they are no longer present.
The same effect can occur with other auditory experiences, like hearing a song on repeat, and then continuing to "hear" the song in your mind even after it has stopped playing.
This phenomenon is generally not a cause for concern and is a normal part of how our brains process and remember auditory information. However, if the experience is intrusive, distressing, or persists for an extended period, it could be worth discussing with a mental health professional, as it might be related to other factors or conditions. Otherwise, experiencing auditory afterimages of recently heard voices is a common and ordinary experience.