I'm rewatching the series right now, and I've come to the conclusion that Harry's character is there for two main reasons:
He's a foil for Paris. In later episodes, this is also taken on by Torres, but Harry is the good boy-rule follower-Renaissance man to Paris' rule bending-adventure seeking-ladies' man (before Torres). Harry is Paris' first and closest friend on Voyager, and he helps Tom become more organized, more loyal, more respectful of authority. (And in turn, Paris helps Harry become more adventurous and daring).
He represents Voyager's primary mission. *Starfleet's* primary mission is to explore, yes. But Voyager's main goal is to return to the Alpha Quadrant. And of all the crew, Harry is the one who openly mentions missing his family the most. When the ship first receives letters from home, he is the most anxious to receive one. Early in the series, he is reluctant to initiate romantic liaisons with others on the ship (although this changes), and comments about waking up in the middle of the night, saying his girlfriend's name. Whether conscious on the part of the writers or not, Harry is the physical representation of Voyager's need to return home.
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