Interesting observation on VOY, about it being "too insidery." Although I still think the bigger problem was it just didn't take it's premise seriously enough. You had a crew that was trapped on the other side of the galaxy, completely cut off from home... and yet the writers insisted on telling the same old Star Trek stories as if nothing was really different.
It completely undermined the credibility of the show, and made the whole thing seem ridiculous as hell.
Just to be fair here--though Voyager is my least favorite Trek show--the "cut off from home" premise was meant to make the exploration feel more like early TOS. However, you can never have that premise with a working starship, as presented in Star Trek. Firstly, you are in the galaxy, not limited by the resources of one planet, and equipped with a warp drive to access it all. Secondly, as long as you have raw material or even certain molecules, you can create anything with a replicator! Thirdly, the worst factor would not be survival but human frailty...psychological effects of space and conflict, missing loved ones, etc. But even here you have holodecks for therapy, counselors, and let's not forget, some very effective UFP ideology and training, for a crew that were mostly officers. Yes, these people are not the dim-bulbs from NuBSG who try to settle on planets when they should be running from the enemy. Ideology is what can make the impossible possible, as with the communists in Vietnam, bombing builldings with airplanes, or sending men to the moon.