I've only recently begun catching up on those early episodes on Netflix. From the onset, this show demonstrated some of the very best from the entire franchise. Unlike the later failed series, Enterprise, which was all action, the Voyager series started right off with plots that involve more brains than lazer blasts. The whole scenerio is perfect: being accidently thrown into an uncharted quadrant of the universe with a mandate to get home. People have an near human connection with the situation. In a different context, it worked with Lassie Come Home. Sticking to human principles in untested situations always proves worthy of exploration and is always food for thought.
Oh, and hands-down, Kathryn Janeway (Kate Mulgrew), is the captain I'd most like to be stranded with in interstellar space.