I don't think the Expanse authors were going for "hard sci-fi." There's, you know, fiction elements -- gates, aliens, magic. And the TV series is itself an adaptation of the books for a visual medium. Showing almost nothing would make for kind of boring TV combat.
Agreed. It's not "rock-hard sci-fi." It's "medium-hard sci-fi."
The background world building was pretty good from a hard SF point of view. Fusion rockets are possible and the high performance ones in the series are at the edge of physical plausibility but possible. Some of the details, like spinning up asteroids, don't work, but the basic physics of humanity's solar system build-out is mostly sound.
The rest of it gets increasingly soft and fantastic. Which is fine, it's fun space opera.