I think one ought to be fair and admit that it's hard to write a story where you get seven (or more) main characters heavily involved. Some have to be set in the background. Somebody's got to get fewer lines than the others. It's next to impossible to keep them all fully engaged.
The Voyage Home almost certainly found the best compromise, balancing moments of comic relief with important plot beats that keep the narrative moving forward. All the characters had tasks to do, each of those tasks being important to the execution of the overarching plan. Kirk and Spock looked for the whales, McCoy and Scotty figured out a way to acquire the materials to house the whales, Sulu figured out a way to install said materials, and Uhura and Chekov figured out where to get the "high-energy photons" necessary to "recrystallize the dilithium" in the Klingon ship's engines and get them home. (Okay, that last one was a bit silly...)
The Undiscovered Country was also pretty good. Kirk and McCoy spend much of the movie in captivity and we follow how they make their escape, Spock runs the investigation on Enterprise after deliberation with Scotty, Uhura and Chekov (and Valeris), Chekov and Valeris actually do most of the investigative work, Scotty ultimately finds the discarded uniforms they were looking for, and in the climactic battle above Khitomer it's Uhura who ultimately figures out a practical way to destroy the cloaked Bird of Prey.
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