The best replacement for voyage is journey.

The best alternatives to voyage are rated as following:
★★★★★  journey
★★★  bonne voyage
★★★  time charter
★★  medieval times
★★  aveo
★★  el toro
★★  grand siena
★★  bon voyage
★  dawes galaxy
★  zelgadis
★  cool water
★  nautica blue
  prisma
  dawes horizon
  une voyage
  magic jack
  aqua di gio
  von voyage
  le voyage
  nautica aqua rush

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Speaking about voyage, one probably shouldn't forget about hugo.

Other search terms related to voyage and their ratings are:
★★★★★ hugo
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Google Trends

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voyage
journey
bonne voyage