It's tricky because there are several potential meanings of, "hard sci fi".
Some people specifically mean that it lacks any "woke" elements.
Sometimes it means that it doesn't address any social issues and is limited to an action movie with fantasy physics.
Sometimes it's about a standard of how realistic the physics fantasy physics are.
I probably wouldn't count Star Trek as "hard sci fi" on any of these criteria and that's not a bad thing. In general, good science fiction isn't really about the science. It's about the people and the science is just a vehicle to explore questions and ideas about people.