Voyager is maybe my least favorite Trek (I still like it a lot!) but it’s got my vote for “the most comfortable” because it always feels so low-stakes. Ironically I have probably seen more Voyager than any of the others for that reason.
The Voyager theme song is by far my most favorite, probably of any TV series. I haven’t seen the whole series yet, but I like it a lot so far. Still, I think DS9 is my favorite.
I’m here for Voyager for the same reasons. I like the characters, the setting is great to explore situations and themes away from the federations protection and influence. I also like ‘found family’ themes, the crew being one big family that depends on, uplifts and supports one another is just nice