I’d say TNG mostly stopped exploring new frontiers halfway through season 1. Farpoint promised exploration, but soon the ship is ferrying diplomats and scientists and answering Federation distress calls. The worlds are new to the audience, but not the characters.
The first time they introduced the Eugenics Wars set in the 1990s, Spock called it the last world war. Pike in SNW elaborated that it was part of the escalating conflict that went nuclear as WW3 decades later.