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Do we know if it is really used infrequently, or does it just happen that it is not used during the events pictured on screen? There is no dialog where a character claims that it is used infrequently?

Fair question, but given the sheer volume of notable things that happen to the Enterprise over the course of the show, it seems unlikely that an event serious enough to warrant saucer separation wouldn't have been shown.

A lot of the focus here seems to be on the military utility, which is also how I suppose the separation feature was presented in the show.

But an obvious use case would probably have been less dramatic. Anytime two things needed to be done at the same time. Send the drive section to the more distant or dangerous location and keep the saucer where it’s safer, like running supplies or something for a planet.

Don’t know it would have been good TV though?! Perhaps if it was used as a plot device to put the ship in trouble?

Yeah, that's a plausible scenario, and folding that into a Lower Decks episode is totally doable.

The only thing I'd tack on is that a hero ship getting lost chasing a Romulan Warbird is definitely interesting enough to merit an episode. With or without the saucer attached.