I just got it to happen by flipping my phone back and forth

It doesn’t happen all the time. I’m currently on an Android 14 device and it seems to happen sometimes when the screen rotates to vertical. Sometimes toggling the orientation by rotating my phone sideways and back fixes it, sometimes not. It’s very inconsistent.

Navigation buttons covering the Voyager UI is an Android/Voyager bug. It has happened on my last two phones.