I stopped watching shortly after Alara left. I mostly couldn’t stand the Captain and his ex, or any of their humor stuck in the year 2005, and the only other characters I really liked weren’t part of the ‘main team’.
But honesty it was all tasteful, generally witty. And mostly seemed to genuinely add to the episodes.
Ehh, having one of the main characters quote a Destiny’s Child song in a scene set in the the year 2400, that aired in the year 2017 was pretty cringe.