The optimal way to watch Stargate, and the way it originally aired, is alternating episodes of SG-1 and Atlantis starting with the former’s season 8 and the latter’s season 1.
Universe had a drastic tone and characterization change from the other Stargate shows, it’s much more tonally similar to Battlestar Galactica than Stargate. SG-1 and Atlantis are about competent professionals who enjoy each others’ company, while Universe is about a bunch of petulant children who hate and are constantly scheming against each other.