It's true. I only ever bothered to watch DS9 after watching every other series and getting desperate for a fix. And now I feel bad for ignoring it after school all those years ago because it's a solid TNG successor.
Voyager definitely has a better theme/synopsis. On paper, DS9 seems rather dull (being a fixed space station, instead of an exploring spaceship). They even had to add The Defiant to allow for that exploring kick.
Character development, and long story plots wins with DS9. Arguably the best Trek series (though, whatever is your favorite is the best Trek series, no need to gatekeep)
The technobabble on Voyager drove me crazy because there was no consistency and just constant deus ex machina solutions that popped into a character's head that magically fixed everything.
All it took was realigning or remodulating or polarizing or rerouting the EPS relays or the dilithium matrix or the deflector dish. And one character would always first suggest one technobabble solution so the next character could explain why it won't work and magically be inspired with a new technobabble solution that will work. Once I noticed that pattern, it honestly ruined Voyager for me because it happens constantly.
TNG had their share of technobabble, but it always felt like they tried to stay logically consistent. DS9 kept the technobabble pretty limited because the plot was way more important, and I think it really shines because of that.
A lot of millenials did because they were too young to see what DS9 was trying to do, where Voyager was everything kids loved about TNG (flashy effects, cool set designs and humor randomly spliced through out the episodes, sometimes in inappropriate ways that do break up what ever plot was trying to hold it together.
I watched a few episodes early on but found it to be too boring compared to TNG, which I only casually watched because I was 9-10 at the time.
It wasn't until I graduated college, spent 6 months searching for a job loving with my parents and Spike TV was just making it's debut and it started marathoning DS9. Holy forking shirtballs I was pissed I never gave it a solid chance.