Simpsons aren't as terrible now as everyone makes them out to be. They are better on he second viewing (i think the if it set to the high standard the early simpons created. . Usually one or 2 good lines an episode(unlike episode like lisa he vegetarian which has 5 or 6 lines which are still quotable to this day) . Tough to stay original after so many seasons(Lego episode was good). Not as good as they once were I agree, but I do still dvr every episode.
Family guy started out strong, but the last couple of seasons have had a few too many shows that have annoyed me. Someone mentioned the Lisa centric episodes getting under their skin. Brian does the same to me at times. Far more good than bad, but it has lost a step.
South park has evolved and because it is so fresh and timely, it can be better then both of the others. but again, there are a couple episodes a year that I just won't re-watch because they are just bad. Very few, but when they are bad, they just really suck.
Archer is the best animated show on tv now. Start from the beginning, because the jokes and character development build on each other.
I would recommend Venture brothers as well. Not as good as Archer, but it has it's moments.
From an old bastard that watches way too many cartoons. I do remember the Tracy Ullman show where they Simpsons were just a little more than bumps (I guess that is hat you would call them).