"Freewheeling" is a judgment call, though. I've been fascinated with the ways this series interacts with continuity, the way it re-contextualizes and adds nuance to previous series. Others, clearly, have not been.
"How the franchise works" is also a judgment call, and one that has changed multiple times over the years. The Motion Picture is a departure from Star Trek, an attempt to be less Forbidden Planet and more A Space Odyssey. The Wrath of Khan is a further departure from that, but not in the direction of Star Trek. With the exception of "Balance of Terror," Star Trek was never so naval, never so martial. The Next Generation is yet a further departure; at first it hews closer to the world of The Motion Picture (advanced by a century), but over the course of its run it changes into something very different, more concerned with its own mythology than with the messages, morals, and meanings. Individual episodes here and there still stand out as very Star Trek, but the overall course of the franchise moves away from that, until you get to the literal death of it all with the "fan fiction" season of Enterprise.