Paris, Tuvok, and The Doctor are stranded on a hostile planet within a gravity well that has a significant time differential.
5-03: Extreme Risk
The crew is concerned about a disenchanted B’Elanna while they engage in a space race against the Malon to retrieve a valuable probe.
5-04: In The Flesh
Voyager encounters an exact replica of Starfleet Headquarters on Earth; a training facility for an invasion.
5-16: Dark Frontier, Part II
The Borg Queen tempts Seven of Nine while the crew hatches a plan to rescue her.