Over the last few years my family and I have binged all of Star Trek, then moved on to Star Trek adjacent shows like The Orville and Stargate. At the moment we're not really watching anything sci-fi. I was wondering if anyone had recommendations for similar shows (or maybe some books) that fill the void left by Star Trek. In particular I really like the episodes that deal with interacting with other civilizations, diplomacy, and exploration more-so than say, an anomaly episode.
In particular I really like the episodes that deal with interacting with other civilizations, diplomacy, and exploration more-so than say, an anomaly episode.
In light of this, and since you were able to work through the not-so-stellar episodes of ST, I'd strongly argue that Babylon 5 should be your next stop.
It has a slow start, some more mixed episodes, dated special effects and both main characters (they switched after season 1) are plain "heroic American leader" types, but virtually everything else is top tier even today. An excellent political plot, humor, great characters with genuine growth.
Just be aware that it is different from DS9 (personally, I like both).
Battlestar Galactica (the new one) and The Expanse are probably worth pointing out, too. To me, they're the best high-production-value sci-fi shows that didn't sacrifice their plot. Nevertheless, both are far more grim than the shows you've mentioned and overall "feel" different.
BSG (the 2003 remake) was amazing. So much better than the original version. And it really ushered in a new era of more gritty, darker science fiction on television. My only complaint with it was that they largely botched the ending (especially the whole Starbuck thing. But I won't elaborate on that as it is spoiler-heavy).