I'm suprised they never bumped into one of those 1960's Earths that seemed to litter the galaxy in TOS.
One that suspiciously looked like a worn down Mayberry?
Seriously though they could have done so much more to make the crew's journey seem more perilous but they chose not to, for the most part. One minute they are desperately searching for fuel but by the next episode everyone is using up the holodeck like there is no tomorrow. I do enjoy Voyager but admittedly it could have been so much better in terms of them being lost and getting home.