I’m simply wanting to know whether connecting the Schiit Jotunheim to my Aqua La Voce S2 with a pair of XLR IC’s could result in noise or signal loss.
It won’t result in noise or signal loss.
100% certain Schiit and/or Aqua HiFI will confirm this.
Were you using a differentially balanced DAC with the Schiit Jotunheim, then there is a possibility of less noise versus connecting single ended (RCA connectors + cables) due to the inherent noise cancelling of balanced topology. Would you hear quieter operation? Possibly. It would largely depend upon the noise floor of your system.
You can easily experiment by alternately connecting the Schiit Jotunheim and Aqua La Voce S2 with XLR interconnects, and RCA interconnects (ideally from the same manufacturer and model range to eliminate a variable ).