Is voltage low enough to be concerned?

A two year old battery should normally not need replacing. If you make a lot of short trips, the battery does not have time to charge properly.

According to the Owner's Manual your battery has a low state-of-charge. If you have a battery charger you may want to try charging the battery overnight and retest, or leave the car in Ready mode for a few hours.

For piece of mind during your trip, you may want to purchase a portable battery charger/air compressor device to carry with you.

 

When you say unloaded and loaded, are you using the Nav system diagnostics to tell you the battery voltage in ACC ("unloaded") and IGN-ON ("loaded")? That is most definitely NOT unloaded, and is horribly inaccurate as well - when my car was about a week old, I used the Nav system to measure the voltage while also using a multimeter at the same time; the Nav said 11.5V, the multimeter said 12.17V. When truly unloaded (all doors closed, all lights off, no key in range, etc. for >5 minutes), my battery was 12.50V. Your battery sounds like it's probably in the same range mine was when brand new, so I wouldn't worry about it unless you have other reason to suspect your battery.

If you want to measure your battery accurately, you really need some sort of external device like a multimeter or a battery tester. I don't think there are any sensors in the car that are accurate enough to gauge the battery voltage reliably, and even if there were, using them adds a load to the battery, thus making an absolute measurement impossible. (Relative measurements are still possible, but you have little to go on - should you think about replacing the battery when the car says 11V? 10.7V? 11.2V? Who knows!)