A core problem that a lot of detractors often miss on VOY was a very very important one: The show only had 1/3 of a plot, and that 1/3 was just an idea rather than an actual premise.
"We're lost" isn't a proper premise for a 7 year Trek show. It's a starter plot good for 1 season or so, but not beyond that. And for Trek it isn't even good for that much.
Ironically, Moore doesn't seem to realize that even though he did it with his own show (NuBSG's premise was far more than "We're lost in space").