Voyage
Voyage /ˈvɔɪ.ɪdʒ/ (noun & verb)
a long trip, especially by sea or through space, cruise, journey, trip, expedition, passage, crossing, tour, travel:
Antonio Pigafetta made the first voyage around the world.
A new era of voyages of discovery has started since the first launch of a spacecraft.
Sea voyages give me a sense of purity and spirituality.