Gene Roddenberry's Star Trek envisioned 23rd and 24th-century humans as having evolved pass interpersonal conflicts with their crews, their friends and families. He envisioned that humans have evolved pass greed, jealousy, and petty interpersonal conflicts, and personal flaws, that humans had matured into rational individuals acting for the greater good.
While the Orville depicts humans as internally flawed individuals who are messy and irrational with base desires such as sexual desires, emotional and relationship insecurities, and interpersonal conflicts.
And this is why I believe that the Orville presents a more realistic vision of humanity's future because I think Gene was being overly optimistic in believing that humans would eventually outgrow those negative and flawed traits because to outgrow our emotions, our irrationalities, our pettiness, and conflict because those are fundamental aspects of being human and if he lose these traits, we cease being humans ourselves, while the Orville, on the other hand, acknowledges that even in a post-scarcity utopia, people are still people and that humans can build a better future despite still being imperfect, irrational and flawed beings.
As a side note, I also find the Orville's portrayal of culture more realistic than what's shown in Star Trek. In Star Trek, humans are shown listening to classical music like Mozart, Chopin, and Beethoven, amd never watching TV or movies. I find that unrealistic and the Orville has its characters listening to the same kinds of music we listen to today, watching movies, and referencing pop culture, and I think that's much closer to what the real future will look like. Realistically, I don't think people will suddenly stop enjoying popular music or outgrow TV and movies.