Star Trek: Voyager‘s “Threshold” is one of the most infamous episodes in the franchise. Tom Paris succeeds in breaking the Warp 10 speed barrier, but as a result he begins evolving into a reptile (no, we don’t see the connection either). Toward the end of the episode, he breaks the barrier again with Janeway in tow.
The Voyager crew eventually finds the pair as lizards on a nearby planet, as well as learning that in the interim Lizard Paris and Lizard Janeway have mated and had little lizard babies.
This is what is referenced by the robot lizards in the Lower Decks season 4 premiere. The funniest thing about it is — considering it’s part of a display meant for public consumption — it means that after Voyager returns to Earth, at some point it becomes common knowledge in the Federation that Janeway and Paris were turned into lizards and screwed.
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