The use of satire does not place such shows above criticism, nor does it relieve them of moral responsibility. Several of the shows you mention made careers of mocking civilized values and celebrating slobs. They should be scorched for it. Instead of setting good examples, they are teaching kids to act like dirtbags.
Maybe you haven't noticed, but "David and Goliath" claymation cartoons are boring. There is a reason why you don't see a lot of them in syndication; most people would rather go bobbing for french fries rather than watch an episode.
What is funny, is watching someone else suffer for making poor choices. Simpsons, SouthPark, Roadrunner, Bugs Bunny, Daffy Duck, pretty much every comedy made since the 40's exhibits this. Even "Leave it to Beaver" would have Wally, or the Beav make a poor decision. Then we would laugh as they suffered the consequences. The more the world changes, the more things remain the same.