The whole series spans almost two decades. I think the quality of SG-1 is really the chemistry between the characters, and not a lot of plot drifting.

The Expanse is indeed the only character centered sci-fi at the moment, as I feel ST Discovery misses the mark on the chemistry bit.

I was pleasantly surprised with acting and scope in The Foundation (Apple TV), but it isn’t SciFi in the vein of SG-1 (action adventurish as you note)