I'll agree that The Goode Family hit its stride just before it got the axe. If those earlier episodes found their voice, it would be different. I think the show's real problem was the transition of long lasting, well established characters from KOTH to new characters that were supposed to be different but the same, but mirror universe the same. Or something like that. Not quite expies, not quite completely alternate versions of the characters. I really liked the episode where they were banned from Whole Foods and had to go where the lower class shopped. I think with time, the show could have been something, but it was on the wrong network. One that wasn't exactly too nice to cartoon shows and puppet sitcoms before. Still, the show itself always had an "almost ready" feel. Had it been forced to another year of development and a cable channel picking it up, it would have been a much better, stronger show with a bigger fanbase.
I'd compare it to American Dad. The show got better when it wasn't all about Stan being a Strawman Republican and they went on wacky, well written adventures while Family Guy was botching the heck out of every political statement. Not saying that mocking liberals was the Goode Family's problem, that was a genuine angle. Just the fact it was essentially all what the main family was about instead of just an aspect of them. Which is what KOTH was. In fact, KOTH was essentially a loving tribute to pople they knew from that area. The Goode Family lacked that. At least in the episodes they aired.
As for Futurama, as much as 2002 me would hate for me to say this, the unjust cancellation worked in its favor. Not to the extent of Family Guy, but the fact that it was fresher and stronger a show than the weak episodes of the Simpsons that were airing at the time. Fun fact: The last episode of Futurama to air on Fox was followed by a broadcast of one of the worst Simpsons episodes I've ever seen! Meanwhile, Futurama got a huge cult following because it was cancelled and better than The Simpsons (at the time), and the fanbase grew as a result, almost in spite of the show's cancellation. Then it came back. Slowly. Much slower than FG. I'm sure that if Fox really gave it a chance it would have been successful on its own, but more fans jumped on the show as a result of [as] reruns. Heck, it's been cancelled for good this time and you still see merchandise and stuff coming out. That's how much love it got. And we can thank the fact that it got screwed as a result.
Too bad that love didn't exactly follow The Critic, though. Those webisodes were meh, but appreciated. Just not as great as the show was.