Season 6 seemed to be the dénoument to this series. It was consistently good overall. My favorite episode had to "Dragon's Teeth" where Janeway and crew discover these old transwarp conduits that could get them home faster only to discover that there are hostile forces claiming these conduits and if Voyager does not leave and forget these, they would destroy the ship. Instead, Janeway tests their mettle and her ship winds up taking some damage and the crew winds up taking refuge on a planet whose people built these conduits and used them to control this part of the galaxy with an iron fist until the peoples they conquered rose up and destroyed them. Down underneath the planet's surface, Janeway and crew find some of the survivors of that race only to find that these guys are worse than the pirates they were hiding from. Once again, Janeway's gotta make a choice, either deal with the baddies from below or the pirates from above. Eventually, the baddies and the pirates wind up fighting each other instead of pursuing Voyager.
For added humor, there "Tinker, Tenor, Soldier, Spy" where the doctor enables a dream program and a plucky bureaucrat from an alien ship tries to use these dreams to control the doctor--only to find out that what he was seeing was the doctor's dreams. It's almost as funny as the episode where the doctor becomes a musical sensation or when he hides out in 7 of 9's cortical implants and winds up taking over her body and personality. Sometimes he provided the necessary levity where everything else seemed grim for Voyager.
"Muse" is also another good episode as well, as Torres and Kim are stranded on a planet when their shuttle crashes. Torres is befriended by a playwright who basically uses her stories--the stories about Voyager--to write new plays where we see these people re-enact the journey from the time that the Caretaker removed both Voyager and the Macquis ship from the Badlands to the Delta Quadrant.
The season begain with "Equinox" where Voyager encounters another starfleet ship brought into the Delta Quadrant. Once again, the crew is tempted to use what that ship is using for power to get home with, but once it is discovered that the captain of that ship is killing off a race of creatures and using their bodies for the power, this leaves Janeway and crew distressed, especially when these creatures attack Voyager with the intent to destroy it for what Equinox is doing.
Then there is "Child's Play" where we discover the back story behind Ichib, one of the Borg Children rescued from a failing cube. Turns out his family genetically engineered him to infect the Collective and destroy the Borg ships from the inside. After Janeway returns him to his family, his father sends him off again to infect another Borg ship and Janeway must rescue him again and make him a member of the Voyager crew.
Of course one must also discuss "Pathfinder" and the mission that both Barclay and Admiral Paris undertake to establish communications with Janeway and crew in the Delta Quadrant. Especially now that the admiral wants to contact his son.
Overall, this season was a typical Voyager season--beginning with a cliffhanger where Voyager was facing destruction in the Delta Quadrant at the hands of someone else, only to end in another cliffhanger where Janeway and crew need to improvise again to figure out a way to survive the Delta Quadrant.