After recording a voice memo, click the three dots, then "Save to Files". Tap "On My iPhone" then "Downloads" then "Save" in the top-right.

Login to your Hello Audio account in your phone's browser, then head to your feed.

Click to upload the file as a new episode and find your Voice Memo file in the Downloads folder of your phone.

You can also share you voice memo file to your computer using Air Drop or to a cloud file storage like iCloud, Google Drive, or Dropbox. Download to your computer from there :)