Yeah, the Expanse is probably as close as we're going to get. Aside from the magic of the Protomolecule, and some things like mag-boots added for the sake of filming, it's amazingly rigorous. Realistic space combat with ships many kilometres apart, no sound in space, drinks poured on rotating stations show the Coriolis force, etc.
We're never going to see a Greg Egan book made into a show, so that's about all we can ask for.
I would note that as goofy as TOS is, in some ways it attempted to be "harder" than later Trek did. A lot of things we look at as "slipstream" these days like psychic powers were embraced by science fiction at the time (largely because John W Campbell believed in them, and he was such a powerful editor). Later Trek became more self-referential instead of really trying to engage with written sci-fi ideas, which meant it went more into the land of fantasy. Somehow the handle on biology got even worse as time went on as well. The things said in the Berman era about DNA make me cringe.
