Re: Worf missed opportunity?
Well given that the post-GEN movies wanted to emphasize themselves as action movies, bigger roles for Worf would have made sense (and he works very well in FC).
As for the series itself... yeah, it does rely a little heavily on Worf being beaten to prove that the bad guy of the week is tough. But it also has him kill a contender for the highest office in Klingon society in ritual combat.
'Spock is always right, even when he's wrong. It's the tone of voice, the supernatural reasonability; this is not a man like us; this is a god.'
- Philip K. Dick