The Simpsons. You can't have a relatable family when the dog and the baby talks like everyone else. The Simpsons is more realistic, as their dog doesn't talk and neither does the baby (although Maggie is so mute and patient that it's a tad unrealistic too, as babies typically take up the most attention in a family, but I still prefer that to a baby talking like a grown man). I know cartoons don't have to make logical sense but cartoons like Family Guy, Simpsons, South Park, etc, are what you call "mature cartoons", so it's better to include a bit more logic in these sorts of cartoons than you would see in kids cartoons like Spongebob.
I know you could argue that the Simpsons are yellow, but it still seems more logical to me than a talking baby or dog.
I've never actually watched a whole episode of Family Guy but I've seen little clips of it and it doesn't attract me like the Simpsons always has.
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Female