Catching up on this for the second time. It is quite a refreshing change of feel and style from watching DS9. It clearly goes back to the original feel of exploration. Although the starting point was somewhat accidental, but this adds a good rationale for the show.
I think also appreciate the design and style of the Voyager starship with extra bio neural circuitry and conservation (improving efficiency ) of energy themes. Also there is a bit more techno babble which, although a bit nonsense just adds a more serious authentic exploration tone to the show.