Bump voip-utils to 0.0.6

[synesthesiam]

Breaking change

Proposed change

Bump voip-utils version to 0.0.6: https://github.com/home-assistant-libs/voip-utils/compare/v0.0.5...v0.0.6 Adds support for MizuDroid on Android.

Type of change

• [x] Dependency upgrade
• [ ] Bugfix (non-breaking change which fixes an issue)
• [ ] New integration (thank you!)
• [ ] New feature (which adds functionality to an existing integration)
• [ ] Deprecation (breaking change to happen in the future)
• [ ] Breaking change (fix/feature causing existing functionality to break)
• [ ] Code quality improvements to existing code or addition of tests

Additional information

• This PR fixes or closes issue: fixes #
• This PR is related to issue:
• Link to documentation pull request:

Checklist

• [ ] The code change is tested and works locally.
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• [ ] Tests have been added to verify that the new code works.

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• [ ] Documentation added/updated for www.home-assistant.io

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• [ ] The manifest file has all fields filled out correctly.
  Updated and included derived files by running: python3 -m script.hassfest.
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  Updated by running python3 -m script.gen_requirements_all.
• [ ] For the updated dependencies - a link to the changelog, or at minimum a diff between library versions is added to the PR description.
• [ ] Untested files have been added to .coveragerc.

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[home-assistant[bot]]

Hey there @balloob, mind taking a look at this pull request as it has been labeled with an integration (voip) you are listed as a code owner for? Thanks!

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