I went through all of Voyager and I don't think it gets better in the later seasons. Most characters don't develope that much, the most interesting storylines were dropped super early, and I really don't like how often consequences are just ignored and the show kind of "resets the status quo".

I didn't find it that unbearable. But I really liked the Xindi Arc and the shenanigans in the Delphic expanse. Also, the andorian episodes were jusz gold. Granted, those also were Jeffrey Combs episodes, but I generally liked the andorian-vulcan conflict and the approavh to vulcans generally.