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Each time I get a new voicemail I have to set up visual voicemail. Once it is set up and I have listened to my voicemail, it will require the same setup again when I receive a new voicemail. I am growing tired of this repeated setup.
If you don't want to save any voice mails, I would find the Voice Mail app under settings and delete the cache and data and try to set it up one more time. Then hope it sticks.