The orbital skydiving suit B'Elanna wears in the opening segment was originally made for a deleted scene in Star Trek: Generations (1994).
Seven of Nine first gave Tom Paris the idea of designing the Delta Flyer in last week's Drone (1998).
In Schisms (1992)/Second Chances (1993), purposely deactivating the safety protocols on the Holodeck is shown to require the authorization of two senior officers. It is not known why this is not in effect on Voyager, though it would seem to be a sensible precaution to prevent reckless or self-harming behavior such as Lieutenant Torres exhibits.
Introduction of the Delta Flyer, a new shuttle design by Tom Paris, which includes Borg enhancements on the old Type 2 shuttle, which was not up the the demands of the Delta Quadrant.
The concept of orbital skydiving (or "space jumping") was previously featured, with James T. Kirk performing the skydiving, in a scene deleted from Star Trek: Generations (1994). Just as the orbital skydiving is in the teaser of Extreme Risk, the deleted scene would have been at the start of Generations. A space jump was also included in Star Trek (2009) with Kirk, Sulu, and Chief Engineer Olson going down to the Romulan drilling platform to disable it.