Nope.
Yep. The whole point if the show it to make Trek "like it used to be." Episodic. Exploration. Gene's vision. No crew conflict. Enterprise 1701. Spock. Uhura. Pike. Number One. Chapel. M'Benga. A Noonien-Singh? Ortegas & Hemmer were the only truly new characters. Out of 9, 6 are legacy, 2 are new, and one is a descendent of a legacy character. One of the two new characters dies.
Your counter is, what, some of the legacy characters are not as well defined? Spock & Uhura surely are. Pike did feature in JJ Trek movies. And that ignores the overwhelming tonal choices, the setting, the uniforms. It is a TOS nostalgia show. Wanna bet we get Scotty soon?
I don't see a huge difference between exploring new ground with a legacy character with a new actor as opposed to the original one.
Look, ALL the shows have legacy/nostalgia to some degree, post TOS.
As I said, TNG had the hardest time, given the time elapsed. At the beginning, other than the McCoy cameo and, well, it being ON the Enterprise (D), they could not do much. Data being a twist on the Spock/humanity angle. But going forward we got Spock & Scotty. Plus Kirk, Scott, and Checkov in Generations.
The handoff to DS9 had Sisko on Enterprise, the O'Briens, and was supposed to feature Ro. Bashir crossed over. Q did. Mrs. Troi. Vash. And Worf. And lots of other Klingons.
Voyager was a cleaner break, given their circumstances. But we still got Barclay, Troi, & Riker near the end. And Quark & Morn in Caretaker.
Enterprise got nostalgic at the end, as was rightly pointed out. But aside from T'Pau, and Zefram Cochrane in the opener, not the characters themselves. Harder in the beginning, but Archer's Klingon trial/conviction/escape was lifted right out of TUC.
DISCO was a cleaner break to start, but we still got Sarek, Amanda, Spock, Pike, Enterprise, and Una by S2. And Burnham IS Spock's half-sister.
Picard is literally a show centered on the Captain from TNG. I applaud them for not going there right away, but it HAD to be done. Nemesis could not be the swan song for that Crew. And I am so happy it wasn't.
LD is a Berman era loveletter, pure and simple.
PRO has Janeway and Chakotay.
Academy is a DISCO spinoff as is the S31 movie with Yeoh.