Re: it's already doing 17.46 km/hour
You need to be going very close to the speed of light (299,762 km/sec) for time dilation to become meaningful on a macroscopic scale. It does happen at any speed though, Voyager's time travel relative to Earth would be a bit less than 2 seconds, accumulated over the last 40 years, if it travelled in empty space. Because of its tour of the outer planets, their gravitational wells actually sped up its relative time. It's hard to calculate how much dilation that caused though, since it depends on altitude and how many bodies (planets, moons and rings) had a meaningful impact.