Weird, you missed a shitload of stuff that was explicitly stated. The Final Five were from (an) earth. They invented resurrection. We don't know poo about their mechanical cylons, or why their world ended in nuclear fire. Just that it did, and they bailed.
They met up with the Robot form cylons in space, and created the skinjobs. The robots had been experimenting with this, but mostly just shredded their colonial captives while trying. The five bartered resurrection and meat bodies to end the war. Hence, armistice.
Cavil was the first, and like any bitchy teenager, he resented his parents. Unlike most bitchy teenagers, he managed to murder the poo out of all five parents, reformat their minds, and plant them in the colonies. Somehow, perhaps intentionally, he did NOT know how to do resurrection, but didn't give a poo, as there were MILLIONS of copies with the skinjobs. Those resurrection hubs were PACKED.
Ironically enough, the skinjobs started treating the robot form cylons like poo, while plotting how to murder off those pesky 50 billion humans.
Later on in the series, Cavil actually fitted both the raiders and centurions with encilaphic inhibitors. No clue how that is actually spelled. The Sixes were especially appalled by this, calling it lobotomy.
Cavil also began doing something with the eights, resulting in boomer as his Manchurian candidate. In one particularly gross scene, he makes her dance around like a ballerina.
We know that the centurions are indeed programmed to hate, but maybe they have other feelings. At the end of the series, they were allowed to take a base star of their own and leave all these bent up people behind.
I honestly think you might enjoy DS9, but my mom absolutely despises Avery Brooks as Commander, and later Captain Sisko. (see what they did thar?)
In DS9, a man is deeply scarred when his entire life is blown the golly up by the borg, and asks for a terminal assignment. He is sent to the ass end of nowhere. Like 9 months at maximum warp far away. He brings with him his young son.
When he arrives, the space pope declares him Jesus. Well... the emissary, but it's held in about the same esteem. Which is both helpful, as the locals do NOT like Starfleet, and have a reason to be indignant. Their planet, Bajor was essentially a giant concentration camp for 60 flippin' years. So the respect is nice, but it is his duty as a Starfleet officer NOT to pervert native cultures by indulging this fantasy. The space pope tells him "Nah, this is totally legit, let me conference call the gods." and does.
So we meet the Prophets, or as they are disrespectfully referred to by Starfleet officers "The wormhole aliens". Nice respecting the native beliefs there, assholes.
These guys are really neat. They don't give much of a poo about corporeal beings, but kind of have a soft spot for those bajorans. They also do not live in a linear fashion, so they're kind of confused as hell to interact in such a manner. They refer to Commander Sisko as "The Sisko".
Also, they use your memory to represent themselves, so they appear as people you know, which is another level of mind fuckery. They also don't understand the concept of grief, and think Sisko is stuck at the moment of his wife's death.
Oh, and that's just the first half of the episode.
Voyager on the other hand, is "Let's do BSG, but no risks" You can see the hands of Ron Moore in the pilot, but beyond that the first season is horrible. There are some serious gems in this festering turd, such as terrorists being forced to conform to Starfleet regulations (They never really sell WHY Starfleet wins that coin toss, but whatevs, it's star trek) A redemption story for a convict (The helmsman), and the Holographic Doctor is so fantastic, they stole him for a scene in the TNG movie "First Contact". (Robert Picardo)
I think one of the reasons I don't like the expanse is that it rings hollow to me. Like I said, I watched it up until they "found" the rich girl, and it just seemed like a diet, shasta version of a better story.
I felt similarly with the last Stargate series, Universe. It seems like someone watched BSG, and took the worst elements of it, and stapled it to their show. There IS a brilliant mockery of this in a CSI episode, where at a star trek convention, a gritty reboot is announced. A bloody, dimly lit, overly dramatic showdown follows, then they cut to the audience, where Ron Moore and Grace Park (Boomer/Sharon Agathon/Athena) watches in horror. It's a mockery of when she shot Adama and it is fantastic. Shame it's CBS, so it's been scrubbed from youtube. Also, Ron Moore yells "YOU SUCK" at the guy who is a thinly veiled version of him.
On that note, CBS has a new, horrible star trek. I watched two episodes and was done with it.