When voice chat hangs on awaiting endpoint, Discord is waiting for a voice server to be assigned and never gets one. It happens before the connection stage that shows as RTC connecting, and it usually points to Discord's side, a bad voice region, or a network path that cannot reach Discord's voice servers.
If awaiting endpoint appears on every server and every network, including a mobile hotspot, it is almost certainly a Discord voice outage, so check the status page and wait. If it only affects one device, reinstall Discord, since corrupted voice settings on that install can stall the endpoint request.
What is the difference between awaiting endpoint and RTC connecting? Awaiting endpoint means Discord has not assigned a voice server yet. RTC connecting means a server was assigned and the voice connection to it is failing. Awaiting endpoint is earlier in the process and more often Discord-side.
Is awaiting endpoint my fault? Usually not. It most often means Discord's voice servers are having trouble or the server's region is unhealthy. Local network problems can cause it too, but they are the less common cause.
Can a server owner fix awaiting endpoint? Yes, sometimes. Changing the server's voice region in server settings can move voice to a healthy region, which is why asking the owner to try another region is worth doing.