I am not Spock wrote:
I'd kill (well, maybe not kill) to have characters on a Trek show as well-developed and nuanced as those on any Joss Whedon show.
Indeed!!! Gaith, I think you are seriously need to examine your view of the Enterprise characters. I didn't think a single one of them was exciting... And I stuck with the show until the end. Phlox was the only one with a pulse. (and sometimes Tucker)
You are also making the mistake of comparing 88 episodes of character development with 13 episode (plus a movie).
In all of ENT, the only characters who did anything exciting, the only ones who felt human, were Phlox and Trip.
Firefly is the anti-Trek. Characters who behave like people, not cyphers for the purpose of moving the story along.