I think Discovery is a little different. They had way too many producers and writers on that show, all trying to get their little ideas in so when they moved onto a new project, they could get a sexy "By the creators of Star Trek" tagline on it. The situation Walter Mosley described when he left STD made the writer's room sound like a viper pit.

Foundation was so strange because it felt like the writers split into two isolated groups.

The team that was trying and failing to "reimagine" the original story, and the team the totally abandoned the original story and was doing their own thing with the clone emperors story.

Unlike other examples where the show felt like an existing story twisted into the framework of an unrelated franchise, Foundation felt like the clone emperors story came out of the talented writers getting frustrated by the quality of the adaption.