I really liked how we got to see a good bit of what civilian life on earth is like in the 24th century. That's something we really never saw in any of the prior series (or even in the movies).
That being said, it looked more like present day earth (but with flying cars) rather than the shiny and clean utopia I was picturing in my head for years. There was even graffiti in that alley in the city that the android girl was at. Does this mean there are gangs in the future? If so, whatever happened to crime and deviance being basically eliminated in the 24th century?