The fact that there's more than one episode where Picard nearly lets an entire planet die because of the Prime Directive doesn't speak well of TNG.
Regarding the idea that the course of events "untouched by us" is always the right one, someone should have asked Gene Roddenberry what was so sacred about that. If we are there on the scene and can stop something terrible from happening, then (as Spock would say in "Assignment: Earth"), surely we were part of what was supposed to happen. The religious would say we were "put there for a reason."
Extending the Prime Directive to the point where it prevents rescue missions, instead of just protecting societies from exotic capability, seems like a simplistic, knee-jerk way to apply the rule. It suggests we have no right to be out there exploring in the first place, because we're just a contaminant. It's a rule born of self-loathing, and Kirk wasn't having it. He always looked for the most he could do by law, while Picard looked for the least.