Well, we did learn that the Nausicaans have relatives in the Delta Quadrant.
As for the Vori language, I found this at Memory Alpha:
Backwalk = back off / retreat ("it is sharper to backwalk")
Beast = the face of the enemy
Before = the past
Blossoms = flowers
Brightly = happily / cheerfully
Clash = a war / a fight ("you've landed right in the middle of a clash")
Cluster = to regroup ("it would be sharp to cluster with the others")
Colors = markings / uniform
Coverings = clothes ("they were his coverings")
Crave = want ("do you crave any more?")
Daughter's daughter = granddaughter
Drill = teach ("Drill Chakotay to fire Vori arms.")
Fast-walk = run / quick-march / rush ("they were fast-walked to the Extermination center")
Fathom = to know / to understand / to think ("you don't fathom the Nemesis")
Flame = to burn ("they flamed all our villages")
Fleet colors = Starfleet uniform
Foot-falls = paces, a measure of distance
The glare = the Sun ("glimpse the glare")
Glimpse = to see / an eye ("did you glimpse the Nemesis?"; "close your glimpses")
Gloried = highly held / glorified / great
Greeted = welcomed
Grey = old (person) ("he's too grey to be of use")
In the before = in the past
In the now = in the present
In the soon-after = in the future
Mother's father = grandfather
Nemesis = enemy
New-light = dawn
Nullify, nully = to kill / to be killed ("they were nullified")
Plantings = crops / harvest ("they took our plantings")
Rages = anger ("you turn your Trembles into Rages")
Savory = tasty ("I'm afraid it's not very savory")
Set loose = let go ( "Set my mother's father loose! Please! Let him loose!" )
Sharp = clever / wise / smart / better ("it would be sharp to wait until new-light")
Shroud = hide
Signal = call / contact
Sly = hide ("sly yourselves and fire back!")
Soon-after = future ("In the soon-after, we'll send them flying from this sphere")
Sphere = planet
Sturdy = strong ("He's very gray, and his heart's not sturdy")
Suffice = enough ("But does it suffice him to nullify you?")
Tellings = words / knowledge; orders ("do my tellings")
Tend = care for / protect
Toiling = working
The trembles = fear / cowardice ("you've got the trembles")
Top = head ("keep your top low and your glimpses wide")
Trunks = trees / woods ("we found him in the trunks")
Upturned = a Vori burial disgrace, a body facing upwards after death as to not go to the Way-after
Way-after = afterlife ("he's passed to the way-after")
Now you can fathom the telings of the Vori.