iPad Pro edit voice memo;
Can you retrieve original audio after mistakenly saved edits
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Unless you created a copy of the Voice Memo prior to making edits (recommended) - no, you cannot recover the original file.
If you have a iCloud or iTunes backup that included the full Voice Memo prior to editing, you can restore the backup to the iPad. You should note that the restore is all-or-nothing; you cannot selectively restore. Any data of files that have been modified or created since the backup will be lost.
Restore your iPhone, iPad, or iPod touch from a backup - Apple Support