"Dark Frontier" happened AFTER the Voyager crew already did experimentations/implementations and flights with QS (which was mentioned to be similar to Borg TW technology in the first place - which in turn would make utilization of the TW coil on the Delta Fyler and Voyager more or less, easy - especially with 7 of 9's help).
SF didn't have QS prior to Voyager crew discovering it.
At least we have no known canon evidence that would point into the direction they had such knowledge.
Equally speaking, the TW project from the USS Excelsior in Kirk's era was conveniently forgotten by TNG because we only heard the word Warp drive used.
On the other hand... the higher warp factors in early TNG (Season 1 and 2) were mentioned to be much higher than what we witnessed in later TNG seasons, then DS9 and VOY.
We can easily explain the TW project from the Excelsior paved way for TNG S1 and 2 incredibly fast Warp factors.
When the Enterprise-D for example was thrown outside of Federation space and over 2000 LY's away in front of the first Borg cube, Data did mention it would take the ship just over 2 years to return.
In Season 1 ("where no man has gone before"), it would have taken the D roughly 300 years to traverse billions of LY's to get back to the Milky Way galaxy.
Obviously the speeds were lowered as the series progressed (probably an attempt of the writers to not give humans too powerful technology, or as to not make the galaxy itself seem tiny to explore by comparison - when in fact, you WOULD need ridiculously fast speeds to traverse galactic or universal distances).
The writers never apparently heard of adjusting the drama to the technology itself.
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