There were four planets who came into contact, after the initial stages. Vulcan, Andoria, Betazed and Earth. All those species are mostly humanoid, though they've got different physiologies and abilities-- Vulcans are telepaths, Betazoids are empaths. Since then, we've explored further and come into contact with countless others. Some are friendlier than others.

We've got space travel-- commercial and exploratory. We've... experienced time travel. But it isn't normal, we don't have active access to it. And I, for one, don't want it.