Legacy had so much potential given that they had Shatner, Stewart, Brooks, Mulgrew and Bakula doing voice work on it. Sadly, the story was just awful and the missions were poorly constructed. I don't think I ever thought "this is fun" while playing the single player story.
Skirmish mode I enjoyed quite a lot. For a long time I would play skirmish mode on occasion. If I'm remembering the game correctly, I think I just loved the Tiburon system. Beautiful nebulas, plenty of space to love around, cool looking planets. It had it all.
I'd take the Defiant
out for a spin quite often, it was great fun.