this would be my most complicated answer. I didn't actually watch all of Enterprise. The first season felt really slow so I never kept following (although I've since heard it's best came later on. So I can't judge Archer fairly.
When the writing was good: Janeway was one of my favorites but the writing usually wasn't good with her. But I felt like at the times when Janeway was unlikeable it was actually the writers writing her as a boss instead of as a best buddy like with say, Sisko.
That said if I had to be one of their first officers I'd definitely want to be Sisko's.
But overall delivery wise Picard owned his roll. Better writing could have served Janeway and by the end of Voyager Kate Mulgrew was probably as good an actor as Patrick Stewart but Patrick Stewart plus the TNG writers just nailed it together. It's once in a century that a character that iconic gets realized and as much as I like to play the contrarian i just can't.
>Overall character arc
I actually really like Q's character arc. Maybe I'm also biased by late exposure since the FiM writers basically copied and pasted the same character for Discord. But I love the way he starts out so unapologetically nihilistic but never manages to escape finding purpose, and the indignity he finds in finding that his actions turn out purposeful.
When I was younger it was definitely Voyager. I felt like it had the best balance of action/suspense and interstellar politics.
But having rewatched it all recently I'm going to have to say that due to it's use of practical effects over CG that would inevitably age poorly and being more cerebral than action based- TNG has aged the best. So I'm going to have to go with TNG. >Favorite race
Definitely the Klingons. Minus the stupid federation/klingon war in DS9>Favorite Episode
The Magnificent Ferengi. Even though it was a meme episode it was just a blast to watch from start to finish. >Favorite 2-parter
Equinox (Voyager). It should have been where they ended Voyager. Good action. Good writing. Good human drama. Good thinky bits.