Impa is a loyal friend to Zelda and works for the Kingdom of Hyrule. 

Voice Sample: https://www.youtube.com/watch?v=U8w7bikg2PY&ab_channel=MichaelCarlino

Audition Lines:

Impa: And to summarize my report, the Champions have failed to locate the Princess, your highness.

Rohm: Sigh As expected. Anything involving my daughter turns into a disaster.

Impa: Furthermore sir. I see you have declined all the demands from the Yiga-Clan for the return of the Princess…

Rohm: That is correct. 

Impa: But sir! With all due respect, their demands are petty in comparison to the threat the calamity presents!

Mipha: nervous laughter I mean, if you want that is. I’ve totally never imagined us getting married, having strange Zora/Hylian babies and you giving me your… Master Sword!

Daruk: Uh, I thought only Link could wield the Master Sword?

Impa: That’s not what she- *sigh* Forget it. I'm not explaining it. See you guys later… Shinobi Art: Flying Thundergod Technique!

Rohm: This looks like… the end of the road… for me

Zelda: Don’t say that! I’ve awakened to the power of sealing! I can still save Hyrule!

Impa: Princess, Link is safe at the Shrine of Ressurection. You must get the Master Sword to safety- *gasp* Your Majesty!!

Rohm: Do not weep for me Impa… Weep for Hyrule…

Zelda: Father…

Impa: Majesty…