It really makes sense. Pedro honestly seems to be a bit “above” this series profile-wise, IMO. Doesn’t surprise me at all that he’s no longer a fan. Probably a little burned out too.
I would think this would be his easiest gig. Just do some voice over work for a few days and done. It's possible he hasn't been on set for all of season 3 because we haven't seen him helmetless yet this season (i'm sure that's coming this next episode though)