Voyager is a very good ship. From Star Trek ships, this isthe one I would probably have chosen for a mission if I had, especially if I didn't know what may happen.
It's interesting to see how each ship that we know of would have handled the Delta Quadrant.
The original Enterprise, with its slower speed and less firepower, would probably not have been able to handle the Borg, so it would have likely either avoided them and started a colony somewhere or been blown to bits and/or assimilated.
Enterprise D would have done maybe even better than Voyager. It had more firepower, more personnel, and was better equipped for surveys. However, I think a lot of the families would have offloaded on Planet 37's. But, with its family friendly facilities, I think the other passengers would have gone generational and replaced them. The ship would have gone slower, taken fewer risks, but been home in 25 years or so.
The Defiant, ironically would have been perfect for a crew of mindless Starfleet eunuch automatons, which is what 130 of the Voyager crew basically were. Perfect uniforms, perfect hair, recruiting poster specials. They wouldn't need recreational facilities, wouldn't want to start families, and wouldn't even consider establishing colonies.
The Voyager, with its limited recreational facilities, is better for people like the senior staff. People who actually have personalities. Too bad there weren't more of them on Voyager, or we might have had a far more interesting show.
The Cerritos, a slow but versatile ship with a less than Starfleet ideal crew, would probably have just said "screw this, we're going to find an uninhabited M-class planet and create a colony." Failing that, they probably would get pillaged by Kazon or disassembled by Vidiians.
And of course, the Discovery would just spin around and be home 3 seconds later. The Protostar might take a month or two.