I don't think it's coming out this generation, and I think that's a very good thing.
I can't recall how much Fallout: 4 did, but I do feel that the crowd of people who have come to love Bethesda games - myself included - generally view that FO:4 was a bit of a disappointment. The voiced protagonist, limited dialogue choices, and hackneyed gameplay when it came to the base-building were all signs of a company that was chasing some of the current gaming trends.
At this time, I really do hope that Bethesda/Todd Howard take some more time to really think about where they want to go with TES:VI. However, I also appreciate that they are at a difficult crossroads.
Increasing the complexity of their gameplay, and pulling back on the things like the voice protagonist, are not going to be 'easy' choices to be made since they will reflect poorly from a critical assessment perspective.
However, that said, I do hope they take heart that, given the amount of love an support has been showered on D:OS2 over the last few days, that they realize that gamers are ready to take on more 'initiative'/'more of the work' when it comes to taking on the 'role-playing' responsibilities during this type of gameplay.
I don't need someone to voice the options for me. I can fill in what I think my character sounds like. But I do need options to pick that differentiate me from other players who will make different choices in a quest.