I never hated Boma...perhaps because I knew he also played Don from LOTG. Boma in his way is understandable if not likable. I hated Kirk.
I think you mean Dan (Erikson), not Don.
I'm with you on not hating Boma; he was very protective of human life to a fault, and (somewhat understandably) viewed Spock's by-the-numbers command decisions as indicative of his Vulcan rejection of compassion. I appreciated realistic arguments and tension within Starfleet ranks, because it could not sell as real with everyone holding hands and grinning in unison.
LOTG was great when I was a kid, so-so after adulthood, and inexplicably better now for me as an older adult. What makes it so-so is the repetitive send-two-to-free-captured-three-but-one-of-the-two-is-captured-as-two-of-the-three-are-saved weekly plotline. Somehow I react differently to the show every 20 years.
A few episodes broke that mold, or had a story that meant more to their survival and/or attempt to leave the planet than the usual Irwin Allen escapist fare.
Marshall also has top-billing in the 1973 action B-movie TERMINAL ISLAND, though he has less to do than co-stars Tom Selleck and Roger Mosley. Marshall survives. LOST IN SPACE's Marta Kristen and Sean Kenney (THE MENAGERIE's Captain Pike, here an arch-villain) do not.
That film is interesting, if for no other reason than spotting the connected TV stars (i.e. then-future Magnum P.I. actors, or former Irwin Allen employees).