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Probably limited a small bit by structural strength, i.e. more acceleration means a stronger and heavier structure. For manned rockets, the G forces are even lower to accomodate the astronauts. So I'm assuming that even lower accelerations are only possible if you trade off fuel efficiency.
Nobody knows what the long term effect on the body would be of lunar or Martian gravity because we haven't done the experiments in space and can't do them on the Earth. Could be same as Earth g (normal health and lifespan), could be like zero g (not sure humans can survive two years), could be somewhere in between, could even be worse or better for health than either.