It is better to thaw frozen lasagna before baking so that the lasagna cooks and heats up more evenly.
While you can bake frozen lasagna it will take long and can cook unevenly.
I always thaw any frozen lasagna overnight in the fridge and it will be ready the next day when ready to bake it.
You could also thaw it at 200 F to 250 F in the oven and then turn the heat up in the oven and bake it as normal.
You can add some chopped sage, thyme or rosemary to your lasagna to make it taste better.
Doubling the amount of cheese or even adding in some bacon or sausage meat to your lasagna or bacon bits to the lasagna can make it taste better.
The addition of wine in the meat sauce of lasagna also makes the lasagna super flavorful, while the layering of the lasagna with mozzarella makes for the perfect 'cheese pull moment" and adds better taste to the lasagna.
You can also season the lasagna liberally with salt and white pepper, and add a sprinkle of freshly grated nutmeg for depth of flavor.
To make lasagna taste great there needs to be a balance of salt, sweet and acid.
Think good to great tomatoes, fresh lemon juice, lemon zest, herbs like thyme, oregano and basil will increase taste experience, and remember the ground pepper.
Season the ricotta with salt, pepper, lemon zest, fresh basil, some lemon juice to balance the salt.