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Not easily any more - it was free last year but that was a limited time offer.
Now you are basically looking at the same options as getting a voucher or free exam for any Salesforce Certification
1) Attend TDX or Dreamforce in person in San Francisco
2) Complete and be a lucky winner in a Trailhead Quest that advertises a voucher as a prize (note you have to be a winner - completing the Quest does not guarantee a voucher)
3) Be or work for a Salesforce partner - they get a very limited number of vouchers each year
You can also keep an eye out for local community events that advertise vouchers as prizes for participation. Occasionally there are competitions on platforms like LinkedIn. In general it's hard to get vouchers