Star Trek was real sci-fi sometimes, and other times was formula. When they confronted moral questions directly, like "what are the implications of fighting a war entirely through computers, preserving your infrastructure but still taking casualties?" or "if you know someone you love is going to change the future to allow the Nazis to win WWII, should you allow her to die?" Those were real science-fiction episodes.
Most of Voyager, by contrast, was formula.

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"You miss 100% of the shots you don't take" - Wayne Gretzky