I liked Beltran as well, and when the character of Chakotay had some screen time he showed what an interesting figure he was. IMO, Distant Origins was the best Voyager episode ever, I thought he was the perfect figure to represent humans and monologue was very moving during the climax of the episode. His character suffered from the producers going all in on making Janeway a super character; and I hated the debates between them because I knew by the end --whatever Janeway stood for that moment-- the topic would side with her. I never saw the point in making an XO toothless where his voice never mattered when it came to the context of the lazy stories Voyager aired.
Spock and Riker are the examples of an exemplary XO. They're not puppets to the CO and these men have their own special dichotomy for command and ethics which helps complete their Captain. For some reason Chakotay's dichotomy was not a great fit to "The Janeway system" at all, and along with Beltran fighting for more substance for his character, the writers made the character immaterial as the series moved on. There's no question, Chakotay was well respected, B'Elanna Torres played by the great Roxann Dawson always expressed a deep love and affection for the character, I wouldn't doubt if he implemented a mutiny--she would be the 1st to support it. B'Elanna loves Chakotay despite what the writers forced upon her; I thought their chemistry together was organic-- unlike the Riker wannabe Tom Paris.
I wish the writers were inventive and had more of the Voyager crew be inspired by the Maquis through Chakotay. I don't mean the terrorist actions and the bullshit we would see on DS9 war seasons, but an expanded philosophy within the Maquis culture which Starfleet men and women could embrace.