I have not seen Discovery, nor The Orville, but since at least part kf this thread is about other shows, maybe I can make a couple suggestions for viewing lists.
Dark Matter, unfortunatly recently cancelled, is a pretty good show, not ground breaking or anything, but it has some decent characters and mix of plots, action and the occasional comic relief (esp Android... boobs... boobs... boooooooooobs).
Stargate Universe, it's a fantastic series, much deeper, and darker, than any of the other Stargate series, far more character driven. Killed way too soon, still absolutely worth watching.
LEXX, not everybodies cup of tea, a little more surreal, absurd even in many episodes but I've watched it through a couple times.
Farscape, of course.
Somehow I'd never watched Babylon 5 before, I'm presently working through it, mostly worth it.
One more slightly unrelated - Travellers - not space based scifi, but definately worth a go.