Let me add my part in defense of normal people.
A friend is not the same thing as an accomplice, not even a stand up accomplice. Only a fool thinks there's such a thing as thieves' honor, and only a despicable fool thinks it's the essence of morality.
As to the Alliances episode, Voyager most certainly did do something. It may be too subtle a point to grasp but arranging a diplomatic summit is most certainly doing something. And being part of an attempted assassination, even unintentionally, is most certainly doing something bad. Trying to force anger against Janeway by falsifying the facts of the story is, well, perhaps it would be politer not to say outright.
The Caretaker established that the series was ultimately about getting home. The Odyssey and all that. It might have been interesting to see the Delta Federation but that wasn't the show. I think the Prime Directive really is too vague and really kind of backward morally to base even a TV series on, much less a hypothetical political entity.