Having Voyager get home in season 4 or 5 would've been a flop and anti-climatic to the extreme I think. Especially given after a years long voyage it's inevitable that the crew splits up.
What I would have liked is a five or six episode long story arc to wrap up season 7 getting them home with at least one episode dedicated to being an epilogue. The list of stupid things in Endgame is long, but the worst part of it is. "Okay, they're home. The end." After Seven years they could've given a bit more closure than that.