DS9 really not only let us know the charactesr, but also the people and the place(s). Every other world is usually just a planet-of-the-week with aliens-with-bumps-on-their-forheads.
Andor managed to give two previously practically or actually unknown Star Wars planet a real authentic feel of a place where people live - Ferrix in Season 1, Gorman in Season 2 (and I guess you could also make a case that the first season also gave us at least some insight into Aldhani and the second into Chandrila).
So maybe a new take on a Star Trek show might be to have a "planet-of-the-season". Maybe a group of Starfleet officers that are tasked with some form of "second contact" where they visit some planets that might wish to join the Federation or have just joined and things need to be setup, or worlds that are recovering from somethnig like the Dominion War or the Burn or something.