Based on the following quote, I would say that the use of "involuntary" is essential to establish the difference between "engajamento" and "embarcamento". "Embarcamento" (from Fr. "embarquement") means "involuntary engagement" (engajamento involuntário), as explained below:

In his notebooks of 1949 and in 1957, when he was awarded the Nobel Prize in Literature, Camus referred to the seemingly paradoxical concept of “engagement involontaire” (OCC 4:247, 1066). To develop this idea, he used the metaphor of the artist as forcibly “embarked” on the “ship of his era,” thereby taking up the image of Pascal’s wager:
“Cela n’est pas volontaire, vous êtes embarqué” (That is not voluntary, you are forcibly taken on board; Pensées). This notion of embarquement enabled Camus to distance himself from the Sartrian notion of littérature engagée all the while expressing his interest in contemporary social and political realities; for if, like Camus, Sartre employed the image of embarking in Qu’est-ce que la littérature?, he did so to promote a particular literary model in which political prescription, or dogmatism, prevailed.48 Camus begged to differ, as his notebooks from 1950 make clear: “Engagement. I have the most noble, and most passionate, idea of art. Much too noble to consent to subjecting it to anything. Much too passionate to want to separate it from anything” (1094). Camus’s concept of “involuntary engagement” and his commitment not to separate literature from anything—or anyone—while at the same time resisting the rigidity of dogmatism illuminate his fictional representations of lethal punishment. His novels’ physical justice, which acts as the foundation for a possible ethics of solidarity with the condemned man, converges with involuntary engagement: it puts forth the visceral inability of some characters to ignore or support state killing, all the 164 ❘ Camus’s Capital Fiction and Literary Responsibility while steering clear of universalizing this body-based rejection of capital punishment, of celebrating reciprocity, and of ignoring man’s interest in murder. https://escholarship.org/content/qt0r30h8pt/qt0r30h8pt.pdf?t...

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Note added at 5 hrs (2023-07-03 19:47:04 GMT)
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"A noção de embarcamento permitiu que Camus se distanciasse da noção sartriana de 'literatura engajada' e ao mesmo tempo expressasse o seu interesse em realidades sociais e políticas contemporâneas" (traduzido do inglês).

Isso quer dizer que "engagement" não é suficiente para expressar a ideia de "embarcamento", já que "engagement" supõe-se algo voluntário.