Getting back to them creating a counseling hologram; well, they created that Cardassian doctor's hologram, Krell Moset, pretty quickly, when the Doctor needed help to get that parasitic non-humanoid creature off B'Elanna. That hologram seemed to contain all of what Moset was. They no doubt could have chosen a real Starfleet counselor to base a counseling hologram on. Just imagine if Marina Sirtis had wanted to join the crew of Voyager, this is how they could have done it.
As for the original question:
Janeway is promoted to Admiral and decides to spend a few years planetside teaching for a few years, before eventually returning to space for a few years, before returning to Earth for a permanent position at the Academy.
Chakotay takes a short sabbatical to visit some family members, is promoted to Captain, after being cleared for his Maquis activities. Eventually is given his own ship. His budding relationship with Seven of Nine fizzles shortly after returning to Earth, by mutual consent, but they remain platonic friends. He eventually gets with Janeway, as she'd no longer in command of him. They never get formally married, but maintain a lifelong relationship.
Tuvok goes back to Vulcan to be cured and has a five year sabbatical before returning to teach at Starfleet Academy.
Tom Paris and B'Elanna Torres try to settle on Earth, but after awhile, being planetside drives them both buggy. They resign from Starfleet and join the crew of a large private vessel, where their roles are much the same as on Voyager. They roam the galaxy for several years, most often the Gamma Quadrant, where they put in at DS9 at regular intervals. They finally return to Earth when Miral is a teenager and wanting to attend Starfleet Academy, settle in better planetside, now that they're older.
Harry Kim takes a short sabbatical, where he spends his time as a musician, playing in small clubs all over Earth, before returning to his Starfleet career. He marries a fellow officer, and climbs the ranks as the years go by.
Seven of Nine is detained for several months, being de-briefed by her experience with the Borg. After being released, she spends some time with her aunt, and takes Icheb under her wing in a big-sister kind of a role. While Icheb is attending Starfleet Academy, Seven searches for Axum, eventually finding him, as he'd been making his way to Earth, trying to find her. They both visit the planet where Hugh and the other Borg left rootless after Lore's dismantling. She and Axum build a center to help these Borg and the Unimatrix 0 Borg who are able to find there way there, as Korok had kept in touch with Voyager all the way back to Earth, and he lets the other ships in his ex-Borg fleet know and they make that planet their home base. They visit Earth at regular intervals.
Samantha and Naomi Wildman re-unite with Naomi's father. They remain on Earth, and Naomi soon has two siblings. She attends Starfleet Academy when she gets older, where two of her classmates are Mezoti and Brax, as it's become easier to get to Earth from the Delta Quadrant by that time.
Neelix marries Dexa and adopts Brax. They, along with the other Talaxians have to eventually leave their asteroid home, as their population grows and the threat of Borg assimilation becomes greater. By the time they leave, communication and transportation to the Alpha Quadrant becomes much quicker. Earth has invited the Talaxian colony to settle there, and sends three large ships to transport them. Neelix opens his own restaurant and bar on Earth, which quickly becomes a hit. Upon graduation from Starfleet Academy, Brax, Mezoti, and Naomi, are all assigned as ensigns to the same large starship going on a deep space mission back to the Delta Quadrant for a five year mission.
The Doctor is detained at Starfleet Medical for a year, where he is studied closely, as the longest continuous r unning hologram ever, and with what they learn, a new holographic doctor template is designed to be of a long-running nature, and not just for emergencies. Part of this time is spent at Jupiter Station. He eventually marries Dr Zimmerman's holographic assistant after Zimmermann dies after a short illness. They run the station there for awhile, but they eventually return to Earth, where he takes up his permanent post at Starfleet Medical.
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