To me Its the Timeloop paradox.
Its a bit messyWhere ST:FC leads to Enterprise leads to TNG - Voyager
The Borg first know us in their point of view is VIA the message sent by themselves 24th Century Drones from the past in 2152. After the nearest Vessel intercepted the message, they in their own way was intrigued as to why their drones are so far away & set off to find this Species 5618 the Drones mentioned of.
After Archer's experience, 2 centuries or bit lesser has past, the data on their encounter is covered with dust & forgotten. Except for a curious few, the Hensens. Who later start of their journey at the year 2355, after learning the Cyborg's name VIA any El-Aurians or rumors.
But before the Hensens, around 62 years ago at 2293 A Cube assimilated Guinan's world. After assimilation they went around the sectors first before pursuing for Sector 001. After all Humans weren't a priority at that time yet, so they seek out any potential races around that sector for assimilation.
After 70 years at TNG's 1st season's ending time, a Cube reached the Romulan Neutral Zone & assimilated a Fed & Rom Outpost. After assimilating them unnoticed they realized that Species 5618 is nothing special at all, just another primitive culture, so they just turn their back on us & headed back.
Next year later, Q lost his temper due to human's arrogance, he snapped the Ent-D to the nearest Cube, [presumably the same Cube that assimilated the Outposts at the Neutral Zone which was currently 7,000 light-years away from their present location] There Picard made the first "Official" meeting with the Borg. [Archer's meeting is merely a mysterious meeting]
Now here's where the Borg 1st got interested in us more then usual. They in their own way, are intrigued more as to how we appeared out of no where in a split second with no any type of trail at all. So they target the ship for assimilation. Which later ending of "Q Who?" the Ent-D again disappeared to no where in a second. Now that really got their full attention, especially the Queen of the Borg.
She has "how should i put it", found a perfect equal for her. For such a unique race. So they pick the leader of that ship they met which so happens to be the Flagship of the Federation "Captain Jean Luc Picard"
"No, not you C.J.L.P.

"
They assimilated him into Locutus & created a graveyard at Wolf 359 & got tricked by the Ent-D Crew & the Queen self-destructed the Cube before any tech could be stolen. At the end of "Best Of Both Worlds" unknowingly to even Picard himself, he have a feeling they are coming again & soon. He also felt the Queen but deny that feeling due to his anger with the Borg, hence he forgotten her.
Mean while a Cube on its course to earth all the way from the Unicomplex along with the Queen took 6 years to reach Earth, where Voyager could have taken 60 something years without the Hub's help.
At 2373 The Cube reached Sector 001 & got destroyed in battle thanks to the new Sovereign Class ship & Picard's connection with the Hive mind to find out a location where the Cube's shield are failing.
After the Sphere ejected, they started a plan of heading to earth's past. & so goes the ST:FC movie.
“To our primitive thinking we thought they wanted to rid of us from the past”
[To me I think the Borg wasn't intending to assimilate earth for real, they are just fulfilling their duty to complete a temporal loop they understand in Temporal Mechanics. The reason they attacked earth is to draw the Enterprise-E to follow them, so they will do what they have to do too.] But the Federation Officers didn't know about the loop like the Borg did.
But 1 thing the Borg didn't know is when the message is sent to the Delta Quadrant. Because the message they received are degraded due to the distance it took to reach the nearest Borg Vessel. So the Queen assumed that they have to send the message now. But since it failed 1 thing led to another, which ended the movie itself.
Then 100 years later 2152, those Drones are found on earth by human scientists & those Drones carried out their last known mission they had from their Queen. "Contact the Borg in the Delta Quadrant" so they did 'in a way

" Hence completing the temporal loop.
Sorry i lost track of the main point,

Ok, so the main reason they are interested in us is because of
1. The unique things we do. [What they didn't realize was that it was Q who did that unique jump]
2. How a weak race like us manage to survive them again & again & again.

So IMHO, the Borg have planned to study this "humanity" of ours. Hence they used & spared Voyager's life to study them. All would have gone well, if the Admiral hadn't interfered her plans & got the Hub destroyed. But 1 way or the other, in that 4 years time, they learn much about Humanity about how they are able to work with Drones in Scorpion, 7 of 9, the other drones they met, etc. Which leads me to think there’s a possible peace can be made with the original Borg, "not the renegades" I think the Borg will soon realize their method will eventually lead to nothing left to do after assimilating the galaxy, if not the Universe
So they have to find a new way of finding perfection. Example:
Ridiculus idea:
Click for Spoiler:
Meeting a species, assimilating some not all of the population [Volunteers] & the relevant technologies, then later leave the race alone to develop more. Which later they can come back to assimilate more of that race's progress.
This is much better because, they still have those individuals to progress on for them to assimilate new tech again from the same race, rather then depending on other races they haven't met yet. [if u know what i mean]
Those Volunteers also will mean they need to change some rules in the Hive Mind's workings. Lots of stuff to recalculate.
& since they can reproduce in a way like Voyager "Drone", that will solve their population requirements since they have an opportunity Cost of leaving the species not fully assimilated for crew.
But it'll be a long time before that will happen.
PS:
Click for Spoiler:
The first humans ever seen a Borg is Lily from ST:FC, The Scientists are 2nd, The Hensens are 3rd & Picard is 4th. [in the timeline]
Though Picard's is 4th, but he's is the first official contact with the Borg, hence 1st for the Federation. Since everyone else, didn't make it back to tell the full tale.
lol, very confusing eh my writing.