The first 3 LD episodes are pretty brutal if you’re not tuned into the frenetic pacing of something like Rick and Morty. I would not put Simpsons, Bobs, KOTH in the same zone. HOWEVER, it’s worth getting tuned into. And if you really want some great info, dig up the old site’s posts by /u/USSBurritoTruck (if they are still there) about Canon Connections especially in Lower Decks, because there’s a TON.
or just search “easter eggs in lower decks S1E4” or whatever. But USSBurritoTruck is the best.
The first several episodes of Orville I’ve described as “what if Star Trek had dick jokes and occasionally tapped the well of ex-wife jokes”… but yeah, I loved that too.