On Star Trek Voyager is there an episode they find away home?

No, there is no episode of Star Trek: Voyager where they find a way home. The entire premise of the series is that the crew of Voyager is stranded in the Delta Quadrant, far from the Alpha Quadrant where Earth is located, and their journey is focused on finding a way back.

While there are episodes where they make progress towards home (like discovering a new technology or forming an alliance with a powerful species), they never actually find a way to return. The series ends with them finally reaching home after a long and arduous journey.