Go watch Renaissance Man. Janeway has a line of dialogue where the mentions the Beta Quadrant specifically. Implying that Voyager was pretty close to crossing into it but not quite.
Granted it was actually the Doctor-as-Janeway.
So yeah, they were still in the DQ as of Endgame. Just.
here's what janeway said regarding the BQ in "renaissance man"
voyager was clearly still in the DQ until the end of the series.CHAKOTAY: Harry tells me the Flyer took some damage.
JANEWAY: That's an understatement. We almost didn't make it back in one piece. They're called the R'Kaal. Their technology is decades ahead of ours. Transphasic warp drive, multi-spectral cloaking systems. They could destroy this ship before our sensors knew they were there.
CHAKOTAY: They sound like people we should avoid.
JANEWAY: I wish that were possible. They control thousands of parsecs from here to the edge of the Beta quadrant. They're ecological extremists. They believe conventional warp engines damage subspace, so they've outlawed warp travel through their territory.
CHAKOTAY: Then we should reverse course and find a way around.
JANEWAY: That's the problem. We've already been in their space for three weeks without knowing it.
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