A realistic future
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The “improbable” humanoid forms of all species isn’t a mistake though - it’s addressed in the show.
Indeed. In TOS IIRC.
It in TOS I don’t recall it, in TNG there was an inter planetary race to find the McGuffin, which was just a message of how the first humanoids seeded all the planets with carbon life with their DNA so we would all evolve into humanoids.