I think you’ve really pointed out a lot of why I think it’s one of the best, if not the best ST series. The characters are not as homogeneous, have more agency, and seem more “human” and complex. While I do think it still has a bit of the “rose-tinted glasses” perspective that has been part of Star Trek since its creation, I think it’s for a lot more grit to it and it’s more willing to go to darker places and examine moral ambiguity than other series did.
Not that the optimism seen in the other series is bad, just nice to sometimes have series that seem more genuine and relatable examples of the human experience rather than escapism.