I think the Kazon arc would have been better received if
a- The Kazon hadn't looked so silly and weren't portrayed as being so useless.
b- Either shortening the span of the episodes to make it more realistic than Voyager would keep encountering them or -
b2 - Have the Voyager be unable to travel at high warp for some reason, perhaps damaged warp engines they're unable to fix without help from a similarly advanced society. Of course that would require the replicators not to be magic which is really one of the main improvements the show should have made in general - complicated parts should not be able to be made on the ship.