They're remaking it and cutting out the filler if you can wait for the remastered animation. 
Taking out about 2/3rds is what they say. 

But if you can't wait. Maybe start at the time skip and you'll cut out about half of the episodes. Plus they do recaps at least like once per arc showing how each character came to the ship and reaffirming their motivations and such🤷🏽