Yeah, but in that case it would be 3rd person / past tense. Like, “they embarked on a treacherous quest”.
No one would say in the 1st person / present tense, “I plan to embark on a treacherous quest”, except like… if they planned to backstab everyone (or maybe if they didn’t trust the people with them?). – Or if they could see the future, I guess.
It feels like a translation issue.