After reading this Sorlock guide and a further discussion in the comments about this topic, it's still unclear to me if the Voice of the Chain Master invocation lifts the requirement of spending an action to perceive through the familiar's senses.
The relevant part of the find familiar spell says:
While your familiar is within 100 feet of you, you can communicate with it telepathically. Additionally, as an action, you can see through your familiar's eyes and hear what it hears until the start of your next turn, gaining the benefits of any special senses that the familiar has. During this time, you are deaf and blind with regard to your own senses.
The warlock's Voice of the Chain Master eldritch invocation says, in part:
You can communicate telepathically with your familiar and perceive through your familiar’s senses as long as you are on the same plane of existence.
They invoke an explanation from Jeremy Crawford which, to me, doesn't clarify anything at all:
Voice of the Chain Master enhances the find familiar spell, which otherwise works as written for the warlock.
To me, "enhances the find familiar spell" could either mean solely that it increases the range at which you can perceive through the familiar's senses (or communicate telepathically), or that it both enhances the range and also removes the need to use your action to perceive through its senses. But again, this depends on how you read it.
Does Voice of the Chain Master remove the action usage requirement from find familiar? How are you arriving at that answer?