I didn't feel at all that they were on a soapbox about how backward these people were.
I thought they were generally respectful of the people and their culture.
Edit to add:
Burnham and Owosekum were not unfamiliar. Burnham just said she was not a believer. Pike was familiar because his father taught comparative religion.
Let’s just say that I would like to see a main character on this show who believes in God and practices a religion, a la Kira on Deep Space Nine.