Knowledge Graph Question Answering (KGQA) over RDF graphs remains challenging in domain-specific settings, where formal ontologies and curated text-SPARQL pairs are often unavailable. We present KGVoyager, a KG-agnostic agentic architecture that generates SPARQL queries from natural language questions by dynamically discovering graph structure and semantics, requiring only a query endpoint of the underlying graph. Using a think-act-observe loop with search, exploration, and execution tools, KGVoyager maps terms to graph IRIs, uncovers structure, and refines queries through execution feedback - all without pre-existing ontologies or examples. Unlike the prior state of the art, KGVoyager requires only a lightweight class index which renders it applicable for far more real-world endpoints. Across four benchmarks, KGVoyager improves F1 by ~8 points while cutting cost and runtime by ~22% each.

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