default or selected kernelversion does not have config value CONFIG_I2C_VOODOO3.
Result is shown for kernelversion 5.4.159

Voodoo 3 (DEPRECATED)

modulename: i2c-voodoo3.ko

configname: CONFIG_I2C_VOODOO3

Linux Kernel Configuration
└─>Device Drivers
└─>I2C support
└─>I2C Hardware Bus support
└─>Voodoo 3 (DEPRECATED)
In linux kernel since version 2.6.20 (release Date: 2007-02-04)  
If you say yes to this option, support will be included for the
Voodoo 3 I2C interface. This driver is deprecated and you should
use the tdfxfb driver instead, which additionally provides
framebuffer support.

This driver can also be built as a module. If so, the module
will be called i2c-voodoo3.

source code: