I dunno alot of recent good TV kinda still does this.
Tuca & Bertie was filled with serious messages between the goofs, targeted at people with Anxiety disorders and chaos gremlins that self-sabotage.
Underneath the existential horror that is The Rehearsal I learned that you cannot ever truly be 100% prepared for anything.
Better Call Saul had alot of things in it like "Why you shouldn't try and character assassinate someone" and "Some people just bring out the worst in eachother despite best intentions"
Our Flag Means Death taught me that pirates are gay.