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Simpsons: Even post season 12 when the quality nose dived, you'll find funny moments scattered about each episode BUT in every season I've seen at least 1 episode that was truly an evolution of the series (Still ridiculously funny, but funny in a different way).

The Boondocks:
Easily my favourite cartoon at the moment. The social commentary is ridiculously awesome. 2 seasons in and it hasn't faulted once.

Then it'd have to be south park:
Sometimes the show goes too far, but when it's on song, it's amazing and the social commentary is better than any of the other big shows

Then in this order:
Futurama
American Dad
Family Guy.

Family Guy was funny until you realised it's humour came from pushing the limits of socially acceptable television. South park is like that, except south park has a soul, family guy doesn't. Which is probably why it as well as mindless hack and slash, FPS and the like are so damn popular.