That's a disconnect I have when talking about this. To me, the production point of view is always the basis. "In-universe" has no meaning to me, because the universe can be retconned at any moment. ...
In Q Who, the Borg didn't assimilate People ... Q's dialogue about what the Borg are and how they operate is what it is. ... I have no interest in explaining away retcons.
I sympathize by all means (and wholeheartedly agree with your Borg queen criticism), but consider this:
The Borg had been to the Neutral Zone and assimilated the Earth and Romulan outposts ("The Neutral Zone"), "Q Who" confirmed this:
WORF: Captain, the sixth planet in the system is Class M.
DATA: There is a system of roads on this planet, which indicates a highly industrialised civilisation. But where there should be cities there are only great rips in the surface.
WORF: It is as though some great force just scooped all the machine elements off the face of the planet.
DATA: It is identical to what happened to the outposts along the Neutral Zone.
The Borg turned back because they found nothing of interest to proceed further. The Borg later encountered and examined the memory banks of the
Enterprise-D, possibly wondering how a Federation ship could have travelled that far. The memory banks provided no clue. They pursued the "D" only to witness her unexpectedly disappear thanks to the "Q Drive".
Because the Borg were only interested in technology and definitely technology superior to theirs, it is a logical conclusion that they intended to add this "Q Drive" to their technology.
Whether the "Q Drive" was secret technology not listed in the memory banks or some kind of psychic ability of the humans remained unknown to the Borg. The logical course of action was to apprehend and assimilate the captain of the
Enterprise-D because he probably knew. Apparently, the Borg vessel from "Q Who" signalled the Borg vessel returning from the Neutral Zone to find the
Enterprise-D and assimilate its captain (or crew) if necessary.
This is exactly what happened in "Best of Both Worlds". Of course, that still didn't do the Borg any good because there was no "Q Drive" aboard the
Enterprise-D. Obviously they couldn't grasp the concept of the omnipotent Q (think V'ger) or dismissed it as some kind of safety implant in Picard's brain not to reveal the "Q Drive" secrets.
The next logical course of action was to proceed to the source (Earth) in yet another attempt to gain knowledge about the "Q Drive".
This is my rationalization approach to unite the observed facts from "The Neutral Zone", "Q Who" and "BoBW" in one theory with the "Q Drive" being the major motivation to return to Federation territory (which after "Q Who" was to be most definitely expected).
So I'd say we can all enjoy "Best of Both Worlds" with guilt-free pleasure (and I also wrote a
treatise enabling us to equally enjoy
this scene from "BoBW" with guilt-free pleasure

).
That's one of the reasons I don't bother with Voyager and Enterprise, or the Star Wars prequels and special editions.
Then the only Star Wars film you like is the theatrical version of the first film from 1977?
Because Ben Kenobi, Luke Skywalker's father and Darth Vader were three distinct and different males according to Kenobi's account (and Lucas made that abundandtly clear in his 1977
Rolling Stone interview).
But in one of the "Making of" videos (expectedly not part of any current SW video release

) he freely admitted that making Darth Vader Luke's father was the right thing to do from a story and drama perspective.
So already here, we had a retcon maneuver by the original creator, but I think most people will not really find fault with it, except for Ben Kenobi's "from a certain point of view" speech in "Jedi".
Bob