I wasn't that bothered with them exploring the occasional planet or anomaly tbh and I don't think it really happened that often. I do think there should have been more episodes where they actively seek out new technologies to help their journey however. Voyager should have been rocking some awesome new alien technologies by the time we got to season 7 but unfortunately the ship didn't change whatsoever except for the astrometrics lab. And that basically brings us back to the problem of Voyager never changing despite its unique situation. We started off well with Neelix's canteen and then nothing. I've always thought that if they'd got rid of the holodeck stuff then the ship could have had a couple of cool additions and sets to provide recreation for the crew - maybe a permanent hydroponics garden (a good place for Kes to hang out) and some other recreational facilities beyond that bland, grey, military looking canteen we got. Voyager really was lacking color.