Voyager has to go through a totalitarian state to keep going home, and on the way they help some refugees, offer asylum to a soldier, and play cat-and-mouse with Devore authorities. Plus Janeway kinda gets a romance. The Star Trek: Voyager Rewatch offers a “Counterpoint.”
Of all the Trek shows, Voyager is the one that most often loses track of the fact that our heroes are supposed to be, well, heroes. They sometimes (only sometimes, mind you) are so focused on their journey home that they forget that their first duty should be compassion and helping those that need it. There’s a reason why so many Trek stories start with a response to a distress call.