[TNG] Season 4, Episode 2: Family
Some people might find this episode boring, since it’s just a few of the characters hanging out with family members, but it was very well done. The writers/producers seem to have a really good grasp of the characters in Family. After an incident on the scale of The Best of Both Worlds, it’s nice to have an epilogue episode, which adds increased gravity to what took place and deepens our understanding of Picard (and to some extent Worf, Beverly and Wesley). I wish that TNG had this kind of confidence in its ability to explore characters more regularly, without having to string the plot together with an episodic, overtly sci-fi plot.
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Read more at Memory Alpha
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Notes:

Enterprise needs some repairs after the encounter with the Borg, so they’re taking a break on Earth.

Picard meets up with a friend that’s helping to build a city under water. Picard considers joining him. Kind of.
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