I think all the actors on Voyager were superb and professional, and Chakotay's character came off as fair minded and likable.
Particularly with episodes like the one with the Kazon youth who was kicked out of his tribe.
What I get from Mr. Beltran is that it seems like there were so many ideas and directions that could have been taken, yet never happened.
And I think that for being a show for "the modern era", (90s-2000) it needed new, in your face ideas.
I think that is why Voyager seems like a good show, but yet something was missing in it, that made it awkward.
The episodes although interesting at times, never caused any of the real spine tingling or suspense the way T.O.S., TNG, DS9 did, however dated they seem to be now.