Part of the problem with Legacy is that Matalas got rid of some characters and relationships that would have been worth exploring and replaced them with the annoying Jack Crusher and the forgettable LaForge girls. I guess if you want to take "Legacy" as literally meaning The Nepo Babies Show you'll use those characters, but hey, Kestra's at the Academy, but she's from the Matalas-free first season of Picard so she'll never be seen or mentioned again. Meanwhile my fave Picard character Laris is like Saavik and Ro Laren all over again, another fascinating character the franchise just inexplicably fumbles and drops. (Yes, they wanted Ro to be on DS9, but on TNG she had a great first episode, a great last episode, and not much worth remembering in between.)
The Terry Metalas Legacy concept doesn't feel like it's a successor to Picard, it feels like an attempt to shove most of it in a cupboard and forget about it.