Orville, imho: The first season tries hard with some poor jokes (what you seem to be afraid of), but already has some very TNG worthy material and great ideas. It improves from there, and now it's occasionally funny but in a more mature way that fits much better. Just give it a try, and endure some cringe - I think it's worth it.

And as sibling says, some moments are actually pretty hilarious and/or spot-on. Though of course YMMV.