Voyager had some very well written episodes.
But really, they could have committed more to the premise of 'One ship, alone' and still been light and episodic. That wasn't an either-or there.
They could have been short on supplies, started feeling a little cabin fever, had random crewmen deciding to leave and settle down, made alliances, had more families, and so on, without sacrificing their principles. Heck, the show seemed like it was built for having dozens of small recurring roles, but they didn't even have as much as TNG, and they were a ship with a thousand people and people coming and going all the time.
I dunno, maybe leola root is a natural libido suppressant.