Re: Animated Series
If you read Gerrold's 1973 The World of Star Trek, wherein he talks about TOS's weaknesses and how he felt they could've been done better, you can see a lot of the DNA of TNG in there (like having the captain stay aboard ship while someone else leads the landing parties).
But boy did TNG turn their back on the captain staying on ship - culminating in the self-parody of no command personel staying onboard in the two-parter Descent which resulted in Dr. Crusher being placed in command. That really stretched the old "willful suspension of disbelief!"
"Ay plegli ianectu flaggen, tupep like for stahn... " - Cloud William