A lot of this was due to the network realising how well the show was working and providing a bigger budget (higher production values, change in intro sequence).
They dropped the previous pregnancy plotline now that they had the budget to write more ambitious plots.
They needed an additional crew member to allow these to work for the script dynamic and also, as they were going into more of a sci fi direction, they needed an information source which could explain new cultures and technologies to the crew (and therefore the audience).
Holly's sex change was caused by the previous actor being unhappy with the commute involved as he had to drive for hours to get to the studio.
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