There's a nice 2017 documentary about Voyager called The Farthest [1]. It includes interviews with many of the now very old team members, and they do exude (deserved) pride, and a still fresh sense of wonder that they pulled it off.
FANTASTIC documentary! Beautifully made, engaging, entertaining for those well familiar and very accessible to the layperson. I caught it by accident, right at the beginning, while flipping through public-access TV and spent the next hour+ positively glued in front of the TV. Didn't even move to the couch - just transfixed in front of the TV where I was standing when I caught it. Later bought it on BluRay.