Yes there is.
Reginald Barclay
Kira Nerys
Jadzia Dax
Montgomery Scott
James Kirk
Ben Sisko (sometimes)
All people who break the law/Starfleet regulation for the greater good, who follow their own internal moral code when they feel it needs to be done. Kirk, in particular, has been repeatedly reprimanded for going outside of Starfleet regulation. There was an entire movie dedicated to that consequence.
But you resort to bringing up relatively serious examples which have nothing to do with unilaterally power-washing an alien building while their representatives are in the process of selecting their subspace number. Let’s take 30 seconds to repeat that premise a few times.
Now, we don’t really care what happened in the 2260s or the 2280s because the Roddenberry Box wasn’t in place back then. The year is c. 2381, while VGR ended c. 2377. Lower Decks is riffing on TNG, and Piller was in fact Roddenberry-boxed by Berman’s decree, even if they were able to loosen some restrictions by allowing more serious conflict, often involving Starfleet personnel leaving Starfleet in the end. McMahan can’t do that in a comedy, so he’s cheating silliness into the setting rather than looking for humor in the basics.
It sounds like the humor you want is going to be much more nuanced and pedestrian, which is fine as it is subjective, than what Lower Decks is going to offer you.
Why would working out the details of a latinum vacation be pedestrian humor? It would be original as opposed to ridiculing tropes. Again, because of all the little questions raised by Gene’s Vision, I’m saying you can actually get away with portraying it to the letter and people would find it funny because you’re not avoiding everything Berman would have.
And it's always been approachable.
Gene’s Vision isn’t that approachable, so much of the TNG era isn’t either.
We've had plenty of bad guy Starfleet officers (Tracey, Garth, Maxwell, Cartwright, Hudson). We also have had good guy officers disobeying orders at the drop of the hat (Riker getting promoted because of it, Picard and co doing it in a couple different movies, Tom Paris being a criminal and getting demoted to Ensign and tossed in the brig himself in Voyager for doing what he wants). Mariner is not the first of her kind. Her gig of wanting to be a Lower Decker forever is even shared by the likes of Crewman Harren on Voyager.
Again, serious examples in the absence of silly examples. What you need is Starfleet officers in the TNG era acting like Lwaxana Troi or Q. Jumping on a fellow officer with a bat’leth. Tinkering with someone’s cybernetic implants. Agents of whimsical chaos, not people with issues.
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