Another semi-episodic plot, but way, way more effective than the previous episode (almost said last week, heh) because it focuses on a character and explores them.
Zero has had low-level discomfort with their non-corporeal nature building the entire season. Here, the gang finds a planet of non-corporeal beings who can not just fix up their old robo-shell, but give them a whole new humanoid body. While I do have to say I think it's a bit presumptuous to think so many energy beings want to be humanoid (I was always under the presumption that they were considered a higher form in the Trekverse), it does allow for an interesting exploration of the desire for what we cannot have. One could even squint and see a bit of a trans metaphor here, though I'm not sure that was intended.
That said, not all is as it seems. The new humanoid bodies are not supposed to leave the planet (which I expected). More surprisingly, there's a race with life-or-death consequences - very similar to what Discovery did in its past season with Whistlespeak. I think it comes across as more effective here, as it's built into the episode's concept and not tacked on. I also love there was no twist antagonist, the planet was not sinister, and the other embodied energy beings were exactly what they seemed. It both befitted the status of Prodigy as a kid's show and kept to the ethos of Star Trek.
Unsurprisingly, Zero leaves with the others. Surprisingly, they are still embodied - though I expect it will not last all season. Really hope they get to smooch Maj'el before their shell falls apart.
In terms of the overall plot arc, there's not much else to say here, other than by the end the jig is up with the holo-bodies, meaning Voyager will be searching them out again. I do wonder how the hell holo-Gwyn knew she was a hologram - and knew where they were going. I thought there was a partial mind wipe?