Embarrassed for Voyager? - never!
Embarrased because of a catsuit? - No. Personally I did not pay any attention to it after couple of episodes.
In addition, I really don't care if some teenager boys lose their marbles because of a catsuit. For them it might to do trick to sell the character, but for me the catsuit was more or less irrelevant. Couple of times it was laughable mostly, but not embarrassing. I would have liked to see the Borg implate stripping taking longer than it did, though. Maybe the catsuit could have premiered in the end of the season 4 instead.
Maybe embarrassed was too strong a word. Still love the character of Seven and what she did for the show.