Okay, so I digged a little deeper to find out more about the TTS technology used by Adobe XD. Judging by the choice of typical names of the spoken feedback, Adobe XD is probably using Amazon's TTS service lovingly named "Polly". And yes, Amazon allows you to use their voices in recordings for use in "third party" publications !
https://forums.aws.amazon.com/thread.jspa?messageID=770993
Using their tool 'live' and directly (like in apps, websites, or any other applications or systems) has a price, but that's not what you're doing.
BTW: again, try using Polly in stead of using Adobe XD to create your recordings. Seems much easier to me...
Start a free account for Amazon Web Serices (AWS) and log in to the Polly console to create and record your spoken text. You can even use various settings to tweak any voice more in your desired style.