IMO, Worf got to express himself a lot more concerning his history, experiences opinions in DS9 than he ever did in TNG. He definably got scenes and episodes devoted to him in TNG, but I think DS9 really set him free. Still as far as how TNG encouraged static characters, Insurrection and Nemesis said nothing about him being and ambassador now - there's no conversation about it, no quick mention. Instead he shows up, the plot unfolds, and Worf is acting as a security officer--just like he was on the show. It just seems like the format freezes the characters into their roles. Geordi acts as he does on the TV show. Wesley and Beverly act as they did on the show. I have a feeling Picard and the other TNG characters (if they appear) are going to sound and act a lot differently on "Trek Picard" because it's (probably) going to be serialized and that's going to free them up to behave and express themselves a lot differently than they did on the original show.