There wasn't a single point for all the crew; there was a spectrum that was made apparent during 5x11, Latent Image, when Captain Janeway was forced to re-confront a decision she had made 18 months prior: Erasing one of the Doctor's memories that caused a conflict in his programming.
About halfway through the episode, Seven gives Janeway the push she needs to reconsider the Doctor's situation. The important parts are the two large paragraphs, Janeway near the top, and Seven at the bottom of this quote:
Janeway: If you've come to act as my conscience, you're a little late. I considered these issues eighteen months ago, as I did again this morning. I came to the same conclusion.
Seven: Your conclusion is wrong.
Janeway: [to replicator:] Coffee, black. [takes a sip, then to Seven:] Lukewarm. Now I've told that replicator a dozen times about the temperature of my coffee. It just doesn't seem to want to listen. Almost as if it's got a mind of its own. But it doesn't. A replicator operates through a series of electronic pathways that allow it to receive instructions and take appropriate action. And there you go, a up of coffee, a bowl of soup, a plasma conduit, whatever we tell it to do. As difficult as it is to accept, the Doctor is more like that replicator than he is like us.
Seven: He would disagree.
Janeway: I'm sure he would. But I can't let that change my decision. I learned that the hard way, when his program almost self-destructed. I won't take that risk again.
Seven: The risk isn't yours to take.
Janeway: If one of my crew chose to put a phaser to his own head, should I let him?
Seven: It would depend on the situation.
Janeway: It always depends on the situation, Seven. But we can debate philosophy another time.
Seven: When you separated me from the collective, I was an unknown risk to your crew, yet you kept me on board. You allowed me to evolve into an individual.
Janeway: You're a human being. He's a hologram.
Seven: And you allowed that hologram to evolve as well. To exceed his original programming. And yet now you choose to abandon him.
Janeway: Objection noted. Good night.
Seven: It is unsettling. You say that I am a human being, and yet I am also Borg. Part of me not unlike your replicator. Not unlike the Doctor. Will you one day choose to abandon me, as well? I have always looked to you as my example, my guide to humanity. Perhaps I've been mistaken. Good night.
After showing the Doctor those erased memories, he begins to mentally implode again, referring to himself as a simple program, even offering to help reprogram himself. Janeway takes a moment, and with a pensive expression, comes up with this:
Janeway: It's as though there's a battle being fought inside him. Between his original programming, and what he's become. Our solution was to end that battle. What if we were wrong?
B'Elanna: We've seen what happens to him. In fact we've seen it twice.
Janeway: Still, we allowed him to evolve. And at the first sign of trouble.. [waves hand] We game him a soul, B'Elanna. Do we have the right to take it away now?
B'Elanna: We gave him personality subroutines. I'd hardly call that a soul.
So from these two conversations, even this late into the series, not all the crew sees him entirely as a sentient person: Seven has long considered him as such, Janeway seems to have only come around during this episode, and B'Elanna seems to still mostly consider the Doctor a complex program. Although she does look like she's reconsidering as Janeway walks away.