First, do not connect your Voyages to wifi until you have done some research on the pros and cons of various firmware versions.
Yes, it is possible to download any voyage firmware update from amazon by changing the version number in the URL for the latest version to the version you want. (each version file is hundreds of megabytes.)
Be warned that the kindle update process does not allow installing a version earlier than the version already installed. For example, you can not install version 5.8.9 on your kindle with 5.10.1.1
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