To play Devil's Advocate ... I can definitely see an argument for the policy in "Homeward." Think about it in terms of what Colin Powell once called the Pottery Barn rule: if you break it, you own it.
From the point Starfleet revealed the existence of aliens and the larger galaxy to the Boraalans, the Federation would feel responsibility for their development. And since the precedent would be set of Federation intervention for the betterment of their existence, where does that end? Every time a large-scale calamity occurred from that moment forward, the Boraalans would ask for assistance. If a Boraalan leader came to power and started committing atrocities, would the Federation be expected to put boots-on-the-ground to stop it, since we helped perpetuate their society? Do you try to "push" the Boraalans towards democracy, civil rights, scientific development, etc.? If 200 years down the road, the Boraalans attacked their neighbors in an adjacent star system, would the Federation be indirectly responsible for it and bear the responsibility for resolving it?
Speaking as an American, our country has spent the past 60 years wrestling with these sorts of questions while doing foreign interventions for both arguably understandable reasons and not-so-good reasons. There are people who feel the United States wasted lives and resources spending 2 decades in Afghanistan, and there are people who feel we should still have thousands of members of the US military in Afghanistan doing "nation-building" in order to protect women and children from the Taliban.
I can see how the Federation decided to sidestep all of these problems from get-go and not mire themselves in messes. Also, think about it from the perspective of us as the human race. If aliens had made first contact in the Middle Ages, the effect on human culture would have been immense. Our accomplishments as a species would not be our own, but be a stunted growth given to us by alien benefactors. Every time there was a threat of global pandemic or a World War, we would have asked for their help ... and been dependent like children for their guidance.