it's a shame what happened with The Simpsons going on decades too long because otherwise it would be the only answer. right now my favorite is Bob's Burgers. I know so many people that think Rick and Morty is the best thing ever, but I never could really get into it.
@Tillman I've been rewatching the Simpsons and it gets my vote right now. Tbf I'm on Season 6. I have not seen the past 12 seasons~ so I can't say. But it was so good for so long it would still get my vote. I don't think Bob's Burgers is there yet but it's close. Bob's Burgers doesn't have any bad seasons.
There are some years from the 90's when the Simpsons was solid gold. I probably haven't watched a new episode in over ten years. Bob's Burgers is high on the list for me too.