Yes, and it's assessed separately from whether you can sail. Camping, kayaking, hiking, snowshoeing, the polar plunge and some Zodiac landings each have their own safety, mobility, transfer, balance, endurance and emergency-exit requirements. You can be approved for the voyage and still be told no for a specific excursion, which is why the assessment should happen before you pay for optional programmes rather than on the day.
Ask for it activity by activity. A blanket answer about whether the ship is accessible tells you nothing about whether you'll get into a Zodiac in a swell at a rocky landing site.
The Zodiac transfer is usually the real gate rather than the terrain. Ask specifically how that ship boards its Zodiacs, whether the method changes in a swell, and what assistance the crew can and cannot give.