A union can't force you to join it so in that regard it's completely voluntary.
It does however pressure companies to only hire union workers, or pressure the government to give preference to union workers. That's the whole point of a union, to check and co-opt the monopoly/oligopolic power of corporations and the government and giving it to the collective workers.
You might philosophically disagree with that approach and think that a more anarchic market is better, but a union is not a violent coercive group.