They should have made it more an ensemble show and not just about 2 or 3 characters.
They should have tried to do something new with the charaters and not repeated the same stories over and over again (The Doctor and Seven always discovered humanity in their eps, B'Elanna always came to terms with her Klingon side, Tuvok always lost control...)
Their situation (alone in unknown territory, looking for supplies, missing their families back home) should have been more developed. Who missed family anyway? B'Elanna and Tom were estranged from theirs, Chakotay's father was dead, Janeway's as well, Neelix's family was dead, too, so was Seven's, the Doctor didn't have any. Kes' family was probably dead, too. That leaves Harry and Tuvok. And Tuvok wouldn't show he missed them. So we always got the impression they didn't really care too much about going home....