Mash did this all the time.
Okay. I did watch MASH as a kid a bit, but have very little memory of it.
That said, I think it's important to note that TV has slowly been shifting over the last few generations from the storytelling mode of theatre to that of cinema.
TV started out as a very dialogue-driven format. This is in part because TV sets were very low-resolution and small compared to movie screens, meaning the script had to carry almost everything, rather than the camerawork. This can be seen very strongly if you watch TOS - or rather listen to it - as the stories mostly work just fine as radio plays, with the dialogue and audio alone enough to follow the story.
As time has worn on, TV production qualities have improved massively, to the point there's little difference in quality between the top end of TV and cinema now. And Discovery is absolutely a show that wants to be - for lack of a better term - cinematic. Yet, I find there are many places across the series where the script feels anxious about silence - not willing to let the landscape and facial expressions alone convey the mood, and feels the need to explicitly say something a person of reasonable intelligence would understand.
Off the top of my head, something like the first season of the Mandalorian is a good example of cinematic dialogue done right. Dialogue is often sparing - only inserted when a character has something important to say. The direction lets the silence and the landscape get across much of the message instead.
OTOH, with something which is more low-budget and keeps to TV-style production (like say, The Orville) having empty space filled with dialogue, or even monologue, doesn't feel as out of place, because there is little attempt at being "cinematic."
