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Iirc Comanche used a ray tracing approach to render the terrain [1]. No Voxels there, just a 2D height map that is sampled.
(They called it "VoxelSpace" ... so some confusion is warranted)
[1] https://github.com/s-macke/VoxelSpace
There's another approach - Deep Bump.[1]
Deep Bump is a machine-learning tool which takes texture images and creates plausible normal maps from them. It's really good at stone and brick textures like the ones this voxel displacement renderer is using. It's OK at clothing textures - it seems to be able to recognize creases, pockets, and collars, and gives them normals that indicate depth. It's sort of OK on bark textures, and not very good on plants. This probably reflects the training set.
So if you're upgrading games of the Doom/Wolfenstein genre, there's a good open source tool available.
[1] https://github.com/HugoTini/DeepBump
I got textures I worked on for a temporarily paused project that I was working on just as a hobby trying to put the game Strife in UE5. https://github.com/navjack/strife-rtx-pbr-textures I handmade a ton of height maps or displacement maps for the textures and they might work really good with this.