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S31 was repurposed into a movie but it was on development for some time. Legacy was just wishful thinking by Terry Matalas.
IMHO Picard should have ended with an USS Picard instead of a new Enterprise. It was clearly just a hook from Matalas trying to get a new show
I think Saru is the best that came out of Discovery. I think the character will rank high in Trek’s Pantheon for a long time.