Retro by itself isn't necessarily
camp. It's camp if the audience is being asked to laugh at it. I don't get the sense that The Orville is asking you to ROFL over the beige carpeting or the fact that most of the shots actually use (horror of horrors) a tripod. I get the sense that Seth just wanted to do things his way and not kowtow to modern fashion trends. In its own way it's the same as Quentin Tarantino insisting on shooting Hateful Eight in 70mm and then trying to get a few theaters to project it that way. That doesn't mean a lot of people won't laugh at it the same way people might laugh at a guy walking down the street with bell-bottoms, but that's not the
authorial intent. It's really more homage than camp.
I second the response about the music, BTW. The music may employ one or more TNG veterans but they were unshackled from the "sonic wallpaper" edict of Rick berman.
The music is the best television music in many year and really should win an Emmy.