Did not Brannon Braga, the showrnunner for a short period, twice propose extended storyline that would have required long-term interactions with such characters: Year of Hell and Workforce?True but it would be hard to explain many minor characters showing up repeatedly when Voyager is making tracks at warp 9+ for the Alpha Quadrant.
Yes , Voyager was always destined to be a series in which "a stranger comes to town" was the frequent storyline,. However, the fact that the ship didn't stop in one location for more than on or two episodes was a choice. The ship's return need not have been constant, continuous, or linear. Nor need it have been ultimately successful. The showrunners didn't like recurring characters much, even if they came from the crew, but the way they approached their subject reinforced the absence of recurring characters.