Compare VOY with DS9 is unfair, imo, because they're very different shows despite being both Trek. For example, I feel that VOY is a much better successor of TOS than TNG, because of all of the horror component that they have in certain episodes. TNG played it a bit safe that even Q had to come to shake them up a bit by introducing the borg, and even so, they had Starfleet to back them up and make a full fleet to fight them. The VOY crew are all alone and away from home. They could have made this concept better, but it's there and TNG ain't nothing like it. The Enterprise many times acted as a diplomatic fancy cruise full of violin concerts and children. It is very comfy in a way VOY aint.
Also, VOY was not episodic but it was "thematic". The theme was "going back home", something TNG didn't have. They were just explorers, but the Voyager were not. They took the chance to learn and explore, but their main mission was to return home somehow.
Meanwhile, DS9 was more episodic than VOY, due to the Dominion war. I really don't know about the BTS for DS9, but it feels like they just thought the concept of a starbase wasnt as interesting alone without something else, which ended up being the war.
I did enjoy VOY, I'm fine with it being campy. People forget that TOS was very campy, and it's still considered by many the best of the whole franchise. TNG was ok, VOY kept that campy vibe, but I feel that DS9 took themselves too seriously sometimes. It's a good story, but it lacked those certain elements the Treks had. To each their own.
About Starfleet Academy, I couldn't make it past 10 seconds of the trailer...