Edit: I got my numbers from http://convertalot.com/relativistic_star_ship_calculator.htm...
The ship's mass will also increase relativistic-ally, as it will reach a maximum speed of ~0.9999961c, so more mass will require more force for the same acceleration.
If you really want to get things over with quick, 10gs will get you there in well under 2 years. I wonder if that's survivable, if you were under water the whole time with a scuba tank or something?
In practical terms we'll need a warp drive. And the whole new type of mathematics and physics to support it.
With extreme longevity you can even get over the time aspects (If a human can live for multiple centuries, a few decades spent on travel isn't that much time).
※ No need to terraform - instead of adapting the planet to humans, adapt humans to the planet. Scarce atmosphere? Add the Nepalese genes to survive at high altitude[1]. Heavy gravity? Increase bone and muscle mass. Water world? Gills it is!
[1] https://www.sciencemag.org/news/2014/07/tibetans-inherited-h...