I'm not sure that could practically work. The problem, is that translucency would allow only a partial view of concealed voxels. As more voxels cover something, the translucent effect compounds.
Additionally, most voxels would appear different with different view perspectives. Due to more or less voxels covering them.
The problem is that in 4D all voxels are visible to the viewer. So viewing a 4D apple would allow you to see the apple from all possible view points simultaneously, including interior views.
To me it just doesn't seem possible to replicate this concept in 3D VR.
Additionally, most voxels would appear different with different view perspectives. Due to more or less voxels covering them.
The problem is that in 4D all voxels are visible to the viewer. So viewing a 4D apple would allow you to see the apple from all possible view points simultaneously, including interior views.
To me it just doesn't seem possible to replicate this concept in 3D VR.