Orson Scott Card called Star Trek: TOS "Wagon Train in space" and he wasn't wrong. But that's the selling point of the show. Our group of plucky heroes explore new horizons, seek out worlds never seen before, and deliver corny dialogue telling us what lesson they learned by punching green guys. It's the most goddamn American TV franchise out there!
As bad as Voyager was, the writers seemed to understand the basic premise. Janeway was a cunt but Dr. McHologram and Seven of Titties stole the show. I can't speak to Enterprise. I still pretend the entire show was a long episode of Quantum Leap.