[MarkSF]

"I am in good physical health without any impairment, which could impact my ability to
participate in such a voyage"

With the comma there, it means "I am in good health and don't have any impairment, which as a result DOES impact my ability". Best to remove it. In legal English it is normal to try to avoid commas because of the ambiguity they can cause.

You could also write :

"I am in good physical health, without any impairment which could impact my ability to
participate in such a voyage"