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I'd imagine trying to build a radio transmitter powerful enough to transmit that deep into space would raise a few eyebrows before you even get the chance to send anything to the satellite.

That and having to guess what commands to send to the probe

Yeah totally.

Here's a nice video on what NASA uses to communicate with it: https://www.youtube.com/watch?v=586Zn1ct-QA Not something you'll put in your backyard :')

There are stories floating around of hackers connecting to old satellites (for fun), so it's possible.

NASA could have gotten away with sending a password in plaintext (can anyone intercept a focused radio signal?), or DES, but it's possible they didn't use anything.

Where it is now, you'd need some serious equipment to transmit to Voyager, and network security is all about cost-benefit analysis; it's not worth the while for any adversary.

You'd be spending precious compute and power to use any kind of encryption. It doesn't seem worth it for something that isn't of significant strategic value.

What would that gain strategically?