I think Captain Janeway was probably thinking that they had a narrow chance of ever making it back home alive if they didn't violate the rules a little here and there.
Also: "I'll be long dead before Starfleet makes it's way back here, if ever."
Then there's the consideration that warp-capable societies are criss-crossing the entire quadrant without a care for "cultural contamination" and whatnot. Heck, they already have a Borg problem - there are bigger problems to solve.
One day I had on voyager as we were falling asleep. It was after seven had joined. Tom Paris asked something and she asked me, what did he say?
I was tempted to tease here, but I just answered the question and keep watching.
She ended up loving it she watched it from there onward then started over from aeason 1 and watched it again.
She liked sevens character a lot, so we watched Picard as she is in it. Then she liked data so I showed her an episode of season 3 tng and she loved it too especially worf.
At this point she is missing ds9 and ent. She is knowledgeable about tos but does not care for animation so only half watches lower decks.
I just got to the worf part of ds9, so I’m hoping I will get her hooked again.
Sometimes when we are bored, she will suggest playing a game to see who can name more alien races😂😂