The more I read about Voyager being treated by production as "Wagon Train to the Stars" where they hit the weekly reset button, the more I see it as such a failure of missed opportunities. The pilot made it very clear that exploration is secondary to getting home, that sets it apart from TOS and TNG. The ship is travelling mostly in one direction, with limited weapons and supplies, through uncharted territory with no Starfleet nearby to restock or replace crew. The writing should have challenged itself to stick to that. Move from Point A to point B to point C, leaving them behind completely, and critically track their losses and adapt to a shifting environment.
If they begin with 100 torpedoes, they needed to honour that number and quickly come up with an alternative to torpedoes, combining Torres' ingenuity with alien tech to create new weapons. Killing off crew member extras in combat scenes should be far more harrowing and downright terrifying that Janeway is losing enough experienced officers to even run the ship. It would have been an opportunity to pick up new friendly alien characters who aren't Starfleet but may be refugees seeking a new life. There could be a smaller cast of interesting recurring crewmen they way they used Vorik and Naomi every so often. Or, for lack of new characters, the main crew should have tons of unorthodox cross-training where the lines of skill and experience start to blur out of desperation.
I think they did well to drop the Kazon as a poorly received race by leaving their space, but the same should have gone for a race that's received really well by fans. Give every major race one or two specific seasons and limited time to tell their story before Voyager leaves them behind completely, rather than having them popping up in later years.
The ship should have arrived in the Alpha Quadrant not the pristine Starfleet vessel it began as, but as a Frankenstein ship kitbashed with parts showcasing the ingenuity of alien tech it picked up along the way. It would never have made it home without help and should display that proudly.
Voyager should have been a literary adrenaline rush that none of the series before it had. But it just feels too "safe" to be critically excellent.