Envoy

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mid 17th century: from French envoyé, past participle of envoyer ‘send’, from en voie ‘on the way’, based on Latin via ‘way’.

wiktionary

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From French envoyé(“envoy, messenger”), from envoyer(“ send”).

etymonline

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envoy (n.)

"messenger," 1660s, from French envoyé "messenger; a message; a sending; the postscript of a poem," literally "one sent" (12c.), noun use of past participle of envoyer "send," from Vulgar Latin *inviare "send on one's way," from Latin in "on" (from PIE root *en "in") + via "road" (see via (adv.)). The same French word was borrowed in Middle English as envoi in the sense "stanza of a poem 'sending it off' to find readers" (late 14c.).