Re: Worf missed opportunity?
You could probably argue he's more developed than Kirk and Spock (not 'better', but 'more' - we definitely know more about Worf's family and upbringing than we do Kirk's for example). It's certainly undeniable that Worf has had more screen time than any other character on Star Trek.
'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