Outer limits beat them to it.
Age restricted? You wussies!
Paul, it'd been 200 relative years aboard Annorax's ship.
Conservatively, considering how long it takes to do the math, if they had had two incursions a year for two hundred years, that's 4 hundred incursions. So we are lucky that Nicole Janeway wasn't in charge of Voyager.
The reason Janeway went around Krenim space in the end was because the border guard was friendly second time around... Four hundred and second time around... Compared to the bullying asshole from the beginning of the story.
Kathryn doesn't like being mansplained to by belligerent pricks. It makes her tetchy.
The Krenim boarder guard shoots Voyager and threatens Janeway with death, inspiring her to dominate this species because of their gall and presumption.
Take two.
Just words, a friend advisory from a local official about border safety. Janeway is not triggered. She reacts like a normal human being, and obeys the Federation laws about tresspass and respecting sovereign territory. Less like a crazy person, no?
I was Wrong.
It's the Zahl.
Janeway met the Zahl, who guaranteed Voyager safe passage through contested space without explaining that it was contested space, or that it was being contested by idiots with tech 3 hundred years behind the Federation, that no one took seriously, the Krenim, so it wasn't really being contested at all, but anyone that matters.
As far as Janeway was concerned she was not entering Krenim Space, she was entering Zahl space, but if the Krenim had taken the time to calmly explain who the lying bastard was, then Janeway could have gone around the contested area, because her permission to go there was not completely wholeheartedly legal, or it was, or it might not be.
She believed that her figurative Visa from Zahl was water tight in take one, meanwhile there was no Zahl in take two, so what the Krenim border guard said, was the law of the land, and there was no need to attack him, or bring the Imperium to it's bloodied knees.