I agree in some senses with the stand-alone part, but not necessarily the animated part. I feel like it would just need to be marketed right. Executives are convinced for the most part that animation is either only for kids or for irreverent adult comedies, when it really should be viewed as a general medium.
I think Infinity Train is the best evidence of my point (look it up if you don't know); it really transcends the typical bounds assigned to animation. Book 3 especially is truly just a great fantasy/sci-fi drama. However, it was basically killed by executives who wanted a tax write-off and couldn't see its potential outside a "kids show". Now some of the series is purchasable on various online storefronts, but the only legal way to watch all of Book 3 is to pirate it.
If executives and people alike would liberate themselves from the stigma of animation, I feel like you could pull off high-quality, TNG-length seasons that allow less rushed charater development for a reasonable budget compared to an expensive live action streaming show. In some ways, Prodigy was an example of this - I felt like I got more time with the characters than almost any other modern Trek (granted SNW is still going on).
I've never met a person where I mentioned Star Trek and they went, "Ew, Discovery. I'm never watching any Star Trek ever again"; I think Discovery had its flaws (and strengths), but it made little impact on franchise popularity.
Usually (which you touch on), it's more like they're just bamboozled by the cannon. Like, I was watching DS9 once, and my roommate asked if it was the original, which then brought a long and complicated explanation from me. I think you're right that it'd be very nice to have a Star Trek show that one could show to people where when old lore is brought in, it's delivered in such a way that people can pick it up as they go.
I think that’s partly why I love and gravitate towards DS9, from the culture wars allegory to analysis of imperialism to the ethics of terrorism and beyond.
I think the beauty of DS9 is you have very different characters evolving together and shows people with different world views can still develop working respect and friendship with each other.