There are probably better ways, but this should work.
Open Voice Memos and view the list of memos.
Tap Edit at the top right.
Choose the share icon (box with up arrow) at bottom left.
At this point you have all kinds of possibilities.
1) Save to Files: This allows you to save to any location available in the Files app. That can include a shared folder on your computer. You'll need to know your computers folder address smb://xxxxx. On the iPhone in files go to browse, tap the three dots icon at the top right, and Connect to Server. Once connected you'll see the folder in the computer under Locations. You must be on the same network, and your computer must have folder sharing enabled.
2) Save to a cloud drive; iCloud, Google Drive, OneDrive, DropBox, etc. These may show up as their own options in the Share Menu, or they may be seen when choosing to Save to Files. Once on a cloud service, you can either copy then to the computer from there, or if you have that service synced on both the iPhone and computer they will show up eventually.
3) If your computer is a fairly recent Mac, use AirDrop. I don't really recommend this for lots of files, but it might work. Be prepared for a long wait for the files to transfer.