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I watched the intro during the first season of every series. After that I generally skipped the intro. I found out they actually re-recorded/remixed the Enterprise intro somewhere late in the series when I was late to click the skip intro button. It still sucks and I hate it.
My parents showed me the episodes of TNG that didn’t have any content they objected to and taught a moral lesson. Most episodes have a moral lesson so I got to watch most of TNG before I was an adult. I have since then watched most of the available Star Trek content out there outside of anything TOS. I may find it in me to watch TOS but I’ve been hesitant to go back before TNG because that show is special to me.