These are the required permissions for DailyRoads Voyager. Hopefully it is clear why most of these permissions are needed. But, maybe it is worth explaining the sensitive ones:
read phone status and identity - used only to detect an incoming call, so the phone conversation is not recorded along with the video. An outgoing call is not detected, since this is initiated by the user, and another ("more dangerous") permission would be required.
disable your screen lock - allows to record videos with the screen turned off. And when you turn it on, you can access the app's controls immediately, without fiddling with the lock. The lock is disabled only while Voyager is running, either in the foreground or the background. This behavior can be controlled with the "lock screen" option in the general settings.
draw over other apps - needed to display the background buttons.
prevent device from sleeping - used to keep the phone in a state of alertness just enough to continue recording video.
Google Maps permissions - there are also some specific permissions needed for the embedded Google Maps.