I have always thought the title was a bit strange, because the Enterprise actually voyages home quote often. Really, though, almost all of the Trek's have awkward or obtuse titles
. Wrath of Khan is actually a bit cheesy, and Undiscovered Country is just a strange title all together.
Not really. The Enterprise
never returned home in the original series, aside from the occasional time-travel jaunt to the Great Depression or the Cold War. It was the later series that tended to make return visits to Starfleet Academy and such.
We never even saw
23rd Century Earth until TMP.