gosh, the animation in this really did become so robotic and lifeless
I’d also like to mention that Simpsons (or any “Prime-time” style) animation isn’t worse than “Superjail” style animation: just different. Squash and stretch is awesome, but it doesn’t necessarily fit with the writing style of those shows. With punchy dialogue, having over-exaggeration in animation can be distracting. It’s not black and white, people.
I worked on a show last year done by the incredible team of Six Point Harness, an American animation company that used Flash, and they did (and continue to do) absolutely beautiful work.