Space isnt empty. But what it has is quite .. spaced out...

So it depends how fast you are going how worried you need to be.

The space station gets hit by micrometeorites, no reason why Voyager or a ship cant.

We've no idea how a deflector shield would work.

So we'll be looking at armor/shielding and self sealing, plus potentially lasers to pew pew small particles out of the way, if we can detect them.

Scifi has some cool things including large ships that use a whole bunch of ice on the front to absorb the damage