Voit, 28, has been sidelined for a month with a sports hernia, and will look to regain the form he's shown at the plate through his first 94 games of the 2019 season.
So far this year, Voit has slashed .278/.392/.493 with 16 doubles, 19 homers and 54 RBI with a stellar 135 OPS+.
Urshela, 27, leads all Yankees hitters with a .924 OPS, and has been a breakout sensation in pinstripes this year on both sides of the ball.
The Colombia native exited Wednesday's game against the Mariners in the fifth inning after experiencing groin tightness, but hoped that he could play Friday as the Yankees return home to the Bronx for a three-game set against Oakland.
Urshela's impact on the field has been invaluable, and perhaps he and the Yankees are taking things cautiously on the precipice of September roster expansions, which would allow Urshela to get right for the playoffs with reinforcements on the way.
The Yankees have withstood an unprecedented number of injuries to members of the 25-man roster from Opening Day onward, and yet they've managed to overcome those challenges and enter Friday's game with the best record in baseball.
The Bombers have won four straight games and return from a nine-game road trip on the west coast to battle the Oakland A's, who swept New York in three games on August 20-22.