All right, we've come to my least favorite episode of the entire series. We have a character throughout the episode who has for years been dosing the people around him with date rape drugs. The worst reaction this gets from anybody on The Orville is "Aww, come on, mate. That's a bit rude." There are zero consequences for any of it. This one plot point taints my feelings about everything else in the episode.
I'm not in the mood for any of the comedy material--in fact, it's even worse on a rewatch. On first viewing. you don't know about the serial date rapist until the reveal. On a rewatch, the foreshadowing is peppered in right from the start with Darulio insisting on a handshake with Mercer. The dramatic plot of the episode also ends up tied in to non-consensually dosing people. Overall, just very unpleasant stuff. Not a fun watch. I'd rather have "Majority Rule" on repeat for 24 hours.
I think this one's pretty fun. The one disappointment for me is that the story sacrifices all its complexity by making the Gelth generic evil monsters. The moral question of reusing the bodies of the dead is an interesting one that the episode ultimately doesn't have to bother reckoning with because it turns out the Gelth really suck. It's the rare twist that makes the story less compelling. It's already pretty twisty to do a zombie body snatcher plot where it turns out the snatchers aren't evil, so pivoting back to them being evil again is just a bit boring.
Otherwise, I like how the episode makes good use of a historical figure. They can sometimes feel a bit hit and miss, but Dickens makes for a good one-off companion who doesn't suffer a major character assassination, etc. It is mildly weird that we have two episodes in a row where a one-off companion burns up (Jabe last week, Gwyneth this week). I wonder if more thought goes into episode order in later series, just to avoid stories echoing each other's plot points. It's not really a problem, but you wouldn't want to turn it into a pattern.