You can’t use the LFO for pitch, that is obvious, right?
You may use the LFO for filter or VCA modulation, just as you do with the internal oscillators. So, where is the problem?
You cannot change the pitch of an external signal directly with an LFO, no. Sorry.
An LFO is a source of Control Voltage for modulating circuits that can be controlled by such a Control Voltage.
The only things you can do to an external signal, is to pass it thru the VCF and/or VCA, and modulate those sections with an LFO that will in turn affect the external audio signal by changing its harmonic content and/or amplitude level.
The pitch of the external signal can only be changed through the use of effect boxes like pitch shifters, vibrato effect, or harmonizers. None of these are part of a Moog Voyager.