I beg to differ from some of the above assessments -- and I've worked in animation for three studios, including Disney. Filmation was the bargain basement of animation. Always was. They did have great character design for TAS, and the music was good -- until you heard the same cues for the 10th time. But they used many, many animation shortcuts. Yes, for the budget they had, they delivered, but that's about all that can be said.
On the other hand, GR had been talking with Hanna-Barbera as well. Only Filmation gave him (and by extension D.C. Fontana) a free hand. That's very much to Filmation's credit.
It is what it is. I enjoy TAS very, very much. So far as taking the dialogue track(s) and creating new visuals, that depends on how the sound was mixed and what original elements remain. I think it's a very safe bet that it was all mixed to mono -- music, effects and dialogue all on one track. Unless the original dialogue tracks are out there somewhere (unlikely), I don't think new animation is worth the effort.