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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.
Gravity on Mars is only about 38% as strong as it is on Earth, and the long-term effects of such reduced gravity are unknown. Astronauts who are weightless for long periods of time lose significant amounts of bone and muscle mass.