Picard as much as I liked him was a touch too superior. Janeway was THE Captain for that journey home through the Delta quadrant. She was mother bear. Her science background I always felt gave her a tactical edge as well. Voyager needed to be a family, their own community. You never got that sense about Next Gen's crew. There was a definite class distinction that suited Picard. He struggled with accepting Wesley.. but then who wouldn't? Janeway was much better adjusting in fact encouraging new memebers to the crew, children, she actively wanted to know who her crew were. Picard knew some and the rest were red shirts.. Janeway was survival hardened, rather than mission hardened as Picard was. Janeway needed to adapt with only what they had. Picard had support and although not a fault he was lazier because of it. Janeway would out wit Picard, out think him, and achieve the better result.
Picard was in command of 1,047 crew
Janeway was in command of 146
Picard HAD to employ effective use of bureaucratic management to run a ship of that size, with multiple departments working on multiple different missions at the same time, diplomacy, scientific, go here, do this, do that, etc etc, there was a LOT going on that we didn't see in the main mission. Whereas voyager had ONE thing to do, get home, smaller departments, less going on etc. There were more engineers aboard Enterprise than there were crew on voyager, for example.
As for janeway being "survival hardened", yes she went through bad things in the DQ but anything that compared to being savagely tortured by the cardassians for days without breaking? Picard was held to a lot more constraints under direct orders of the Federation but that's not to say he never showed his chops in that regards, see Darmok for an example of that. (a situation i could not see janeway surviving)
In the end the question comes down to WHAT the "contest" is, what are the parameters, what is the environment, they have strengths and weaknesses, Janeway does shine in relatability and caring nature, but is that an important factor from a CO, when you have heads of department and the XO who are supposed to fill that role anyway?
By and large Picard is the superior C/O with the broader range of abilities and the superior staff, in my opinion