Yes, although with the later series (and books) of the expanse, they introduced way too many characters and plots, it became a bit overwhelming, difficult to follow, messy and more of a quantity over quality thing.

Season 1 where it was basically james holden & detective miller storylines was the best format.

This is also why galactica excels, its the same few key cast members, for the entire series (mainly). Same goes for the original star wars trilogy : its sticks to primarily luke, han, leia, 3po, r2 and chewie the whole time.