I have only a single exception. In Lower Decks, there's a crossover episode with Strange New Worlds where you see two of the animated characters in the live action show because their voice actors look like their characters. The other two main characters don't. One would need to be painted green and could probably pass but the other character, Rutherford, is a black guy voiced by an Asian Pacific guy, and ...yeah he could probably pass but that's...well it'd be a much easier call if the character and the VA's "race" matched.
(In the star trek universe this wouldn't matter at all, I'm only pointing out the IRL conflict. In fact, I believe they went with only two crossover characters for budget reasons)