A feel like that Ronald D. Moore rant that came out after he left the show really damaged the perception of the show in many fan circles. This damage getting even worse when Moore went on to create BSG which is some spectacular television.
Many of the continuity/‘reset button’ complaints seem to stem from it and today even Moore admits that he was being unreasonably harsh on the show. His issue was with Brannon Braga and his own problems taking instruction/being led by somebody he’s had creative clashes with who used to just be a colleague.
But Voyager could not and never would be BSG. The Federation is far more advanced than the colonies were as a prime sticking point. Are we really going to see the ship get damage over the course of the series as though replicators aren’t onboard?
Did Voyager play it safe in some areas? Sure. But it was a network tent pole for UPN. Much of the aspects of DS9 that people love wouldn’t exist without Voyager being the ‘star’ at the time at taking the networks attention. Not to mention that DS9 was as bad for, if not worse at reset buttons - remember that pylon that got blown up and was just fine the next ep? Remember how they blew up the Defiant and just went ‘lol here’s a new one with different carpet’ for the finale?
That was just the reality of TV at the time. CG got significantly cheaper in the years after they both went off air - as evidenced even within Trek with the persistent damage in Enterprises third season.
I’m also really glad that you mentioned Seven and how brave they were with a number of those stories. There was clearly network pressure for ‘T&A’ and they could have gone the very easy (TNG) route of having a character in a skin tight outfit that rotates through love interest and sexual assault plots for focus episodes but otherwise just stands around stating the obvious (Sorry Troi), instead they introduced an attractive character in a catsuit and immediately made her but heads with the Captain, run around like a maverick and in the process gave us one of Treks very best character development arcs (somewhat at the expense of other members of the cast mind).
We also have to remember that they wanted (and needed due to VHS recorders being unreliable at best) a show where you could kiss a few episodes but still tune in and have a good time. I think, perhaps better than any other Trek Voyager succeeded in its aims in this regard.