yes, oh yes they do. they do it so much.
I haven't come across people explicitly saying that it should be a utopia but maybe I just haven't been on the forums that much.
I myself had a criticism of PIC's opening about the Federation, Starfleet and the use of synthetic slave labor, not to mention Raffi's situation. But I don't think I characterized TNG's premise of Earth's future as "utopia." But I can understand why people would be dismayed that the future of Earth that Star Trek: TNG previously depicted as something to aspire to is actually not too different from our own current society.
I did find it interesting to rewatch episodes like the one when Data created a child. Starfleet were assholes! Data creates another sentient, artificial life form on his own time, and Starfleet acts like it's their property? I reconcile it as they had no actual legal right to it, but that they essentially would kick Data and Picard out of Starfleet if they didn't comply.
I got the impression that Starfleet in general was a noble institution but that there were some bad apples here and there that tried to make trouble, but the ethics of the majority of Starfleet would prevail. So to find out that Starfleet (or is it the Federation?) was so hesitant to help Romulus seemed out of character.
But then again, rewatching TUC, I found it out of character for all these characters to start being so racist, just so the filmmakers could hit the audience over the head with commentary about racism and nationalism. The crew has been exposed to ALL these different cultures and species, and they're really going to point and laugh at the way Klingons eat? "Guess who's coming to dinner." Really? And then the Admiral saying that Klingons would become the space trash of the galaxy.
So there's inconsistencies here and there within the entire series itself that have faults, in my opinion.