Put the story back into exploration made. Trek is most interesting when it is at the edge of the human frontier (e.g., not hopelessly cast adrift like Voyager and not stuck in one place like DS9). The Enterprise is the equivalent of a ship on a long voyage in the age of the fighting sail. Just close enough to command to get directives. Far enough away to have to solve her own problems.
Except that wasn't TOS.
They weren't always exploring and they weren't always too far from ained about, outposts, Federation member planets, and Federation colonies.
I mean a lot of the time they were doing other Space Navy stuff like moving crap from one Starbase/planet to another, making sure some scientists or colonist weren't dead or injured or whatever since the last time Starfleet sent someone to the place, or answering distress calls.
I mean hell the one season exploration took focus was the third one as those complained about planet of the week episodes.
I will never get why people always seem to think TOS was so exploration focused when it really wasn't.