I'll agree. Worf had a better character arc than anyone else on TNG. Most of the characters didn't change that much at all once they got themselves established by season 2 or so. Worf and his struggle with his discommendation and Klingon heritage and faith was an element for most of the run.
Probably my favorite Worf moment was when he let the Romulan die in the Enemy. Not so much as it's a great moral choice or anything, but that it was a whoa! moment that he did something completely unexpected and surprising. The first time I watched the episode I was fully expecting him to give in, blah blah, hug and kiss the Romulan, the end. Turns out Geordi puckering up was enough hunky dory for one episode.