Voyager has "transphasic warp" (or whatever the correct term is).
Wasn't that basically a fictional device that the Doctor just "made-up" while have a conversation with Chakotay?
My memory of Voyager episode details is admittedly sparse, as it wasn't my favorite series of the franchise. It wasn't transphasic warp, but quantum slipstream drive
. This was technology gained from Arturis in "Hope and Fear".