Most of that is fair, but at the time I enjoyed Voyager in part because it wasn't DS9. DS9 had the narrative and character development, Voyager had the almost anthology like quality to allow randomly tuning in and be able to enjoy the show. I liked both, DS9 more of course, but the contrasts were complimentary in a way. I suppose it's unfortunate that's all they ever really strived for because they could've done so much more, but DS9 filled the "so much more" niche for me.
I've watched DS9 in the last couple years and it holds up rather well. Dat SD video quality is a little rough, but still some damn fine TV.
I haven't seen Voyager since it aired, but I imagine it doesn't hold up amazing overall and that's where a lack of ambition is going to hurt them; longevity. I guess that's less important when you've already raked in that sweet, sweet syndie money. I can think of several episodes that if I marathoned it I would have to fight the urge to skip even though I haven't seen them since the 90s. Vision quests? Warp 10? Fairhaven? *groooooooooooaaaaaaaaaaaan*
The only Trek convention I went to years and years ago, I was surprised to find Robert Beltran was an absolutely hilarious individual. Him mocking Chakotay's half baked heritage and sappy New Age vision quests was great. He was there with Robert Picardo, the dude who played Gorn on the original ST, Peter Mayhew, and the gentleman who played Dr. Choatica. Throughout the Q&A no one was asking Choatica any questions and I felt bad for him. I resolved to ask him a question... but couldn't think of any in the remaining thirty minutes. Poor guy didn't get a single question.