I liked Family Guy's first two seasons best, although Season Three was pretty much just as good. It really shouldn't have come back though, it's got virtually no redeeming qualities now. And like the Simpsons, it's now gotten to the point where the bad episodes outnumber the good ones. There's nothing about it that's as good as it was before it was cancelled, except for perhaps the music and animation (but the animation was pretty bad to begin with). The writing has been garbage since Season Four, and personally I don't even like some of the voice acting as much lately (specifically Peter, Lois and Stewie).
To me Peter sounds blander than he did in S1-3, perhaps not as emotive or something. He always sounds like he's awkwardly setting up for some bad cutaway, even when he's not. Lois's voice has been getting more and more exaggerated since the show started, and while her original voice was annoying, this new level of shrillness is also pretty bad, IMO. As for Stewie, I just prefer his original evil incarnation rather than the feminine version, but that started to change even before the cancellation.
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