Etymology
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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.).

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Definitions of envoy

envoy (n.)
a diplomat having less authority than an ambassador;
Synonyms: envoy extraordinary / minister plenipotentiary
envoy (n.)
someone sent on a mission to represent the interests of someone else;
Synonyms: emissary
envoy (n.)
a brief stanza concluding certain forms of poetry;
Synonyms: envoi
From wordnet.princeton.edu