I haven't seen ENT yet [I'm at mid 5th season on VOY atm], but for what is worth, I rarely skip Voyager's intro when watching. I skipped TNG's intro most of the time and DS9's all
the time. too boring.
So, for now it's VOY and TNG in very close tie, with VOY better in music and visual, and TNG bringing pure awe with Stewart's words.