I'll take camera snaps and upload later if it's really such a hot topic, or animated gifs in a feeble attempt to show the differences in fluid animation, but in streaming, the streamed version of VOY has so many jagged edges on top of fuzziness that it's barely watchable at times. The f/x shots look far worse. To compare, the DVDs are not upscaled in the same way and only look fuzzy, but not jagged.
The streamed version also has a choppy feel - while the episodes were filmed and edited on videotape, the videotape is still 29.97FPS and film is 24fps. Since streaming will remove frames from videotape sources to reduce bandwidth hogging, and the frames removed are not synchronous, this leads to a slightly jerkier look.
Also consider that DVD has a higher bitrate than streaming. Or if it doesn't, it's still doing a far better job with its minuscule 11.08MBit/s...
I've used PowerDVD to upscale and AI and other neato groovy buzzwords to improve PQ from DVD and streaming. Guess what? The better the source materials == the better it will look when upscaled or altrered or buzzwordied. It's still that simple, and always will be. It does a great job with the DVDs of DS9 and VOY, but the limitations inherent to those still scream out despite the improvements, which are not bad (especially as I'd rather watch with it than without) but that's not the point. Native > anything artificially reconstructed after being artificially stripped. Bandwidth transfer is not a matter transporter from that sci-fi show where the military peeps in 1960s go-go boots and shirts of technicolor hues show aliens every week what luuuuurve is...

Never mind the mid-90s...
Also, this article hasn't dated badly in regards to overall PQ:
https://www.vox.com/culture/2016/12...-media-essential-streaming-dvd-bluray-netflix
While streaming DOES have advantages, PQ clearly isn't one of them. And can't be. And shouldn't be because streaming is still perceived as being predominantly for casual viewing. Heck, while I've seen film scanned in at 1080P, I still turn to DVDs instead of the streamed version. Not because there is a quality hit ((low res or upscaled) < native PQ) but for other reasons. Such as, when the program vanishes from availability, which has happened a few times for a few shows already.