However, I recently completed a straight watch-thru of every Simpsons episode, and while watching the lackluster episodes from seasons ~20-~30, I have to acknowledge one thing:
Quality of the show and its writing have noticeably improved since around Season 32.
The most recent episodes feel more centered on the family and much less on bizarre cameos and really outrageous situations. It actually feels like a show about the Simpson family and treats the characters more age-appropriately.
I don’t like that they lost/recast established voices of minority characters (Apu, Carl, Dr. Hibbert, etc), I do think the quality and the focus of the show is much better than it has been in almost 2-decades.