Totally, you can tell Ms. Beyer is very thoughtful with her writing in these regards. I love tying things in and also touching on things that could have been given more time during the series airing.
These characters are just so much more richer and robust than they were during the show. I am a giant fan of Chakotay because these books clearly
flush him out, in the series I just saw the potential the character had - Beyer actually has developed Chakotay into a dynamic, fully realized character.
Anyways, I will stop babbling. I am excited Ms. Beyer writing for Star Trek Discovery and that we will get at least two more Voyager books from her