IMO no, Voyager never gets better. It gets worse.
In the first season or two, Voyager has somewhat of a modicum of a story, even though they abandoned the premise by the end of the first episode.
After that, not even
somewhat of a modicum of a story is present, except perhaps regarding one single character who comes on in the later seasons.
The Dominion wrote:
it was just filler.
That's a great way of stating the same point that I'm trying to make. Voyager has vastly
more filler content than it has story content.
That problem gets worse as the series progresses.