We are bombarded by shows (TV & movie) that are all action and little to no characterization.(and I am as guilty as anybody in liking action!) When we watch a show that is more on character development, at first it’s jarring, maybe boring. If we are a just a little persistent we’re then hooked. I think that’s called theatrical art. Blake’s 7 & Babylon 5 were that way. At least for me!
Avon is insisting that the crew go to this planet, and Vila’s eyes light up. He leans and looks at Avon with a discerning appraisal. “You think you’ve found Blake!” Avon gives that rare and joyful little smile.
There was often such subtlety underneath it all.
I'm not against watching long story arcs, but the trouble is that you do not know if you are investing a lot of time in something that might turn out to be not so great.
I've read that the TV series "Dark Shadows" was about to be canceled when the producer's son told his dad that he needed to put a "Ghost" into the show. The dad said "What the H3ll, we've got nothing to lose", and tried it.
The rest is history.