A Federation starship that intercepted the Titan in 2401 with Commander Ro Laren aboard, and was taken over by changeling infiltrators who tried to destroy the Titan.
This USS Intrepid appears in Imposters, an episode of the third season of Star Trek: Picard. After the Titan's unauthorised flight to the Ryton system, Starfleet sends the Intrepid to meet it, and Captain Shaw expects Picard and Riker to be taken away for court martial.
The officer who comes aboard is Ro Laren, now with Starfleet Intelligence. She has been investigating changeling infiltration of the fleet and no longer trusts her own ship. She and Picard make an uneasy peace over her defection to the Maquis decades earlier.
Her fears are borne out when a bomb is planted on her shuttle. Ro flies it into one of the Intrepid's nacelles, dying in the blast and buying the Titan time to escape as the Intrepid opens fire.