Well, as a Vocal Coach I can’t stand to fake or misleading news about voice health or voice use, sore here are my two cents-
Let’s first define what actually is ASMR. It’s the abbreviation of Autonomous Sensory Meridian Response. So we know it’s something that happens without any control over it and it is a response to a stimulus. It has directly nothing to do with sounds, especially the voice. Clearly, the stimulus can be a sound, even produced by a human voice. Probably someone wrongly used this terms long time ago, but there is a better one, as I will teach you later.
Probably every one of you have heard the disturbing sound of fingernails on a Chalkboard. That’s exactly what ASMR is when is related to a sound. It has pretty nothing to do with “whispering” sounds.
The ASMR has an evolutionary explication: the needs for a mammal to be aware of a “danger”, and the sound is a nice anticipator.
There is no need to be aware of a soothing sound like a whispering voice for us to survive, so it is not related to ASMR.