Honestly, I don't miss Kes as much as I miss Seven. Seven's character is far more interesting than Kes. I think Kes left at just the right time on the show. Her come back was...kind of odd and I don't think it needed to be there, but at the same time I'm sure many fans were happy to see her temporary return.
Whenever I watch the older episodes of Voyager, I feel that she's perfect. And when I watch the newer ones, I think it's perfect for Seven.