Why is "The Orville" considered a good show?

Hi,

I started recently to watch "The Orville" and just reached season 2. I was tempted to watch it because online it was described as "the better Star Trek" and similar. But with a couple of exceptions the episodes should be described as cringeworthy, infantile, bad acted, simple plotted. I give it a few points for near state of the art visual effects and scene setups, but really? I endured it because it kind of is a pattern that season 1 is a bit clumsy as the actors are not yet used to their roles, the writers do not know what to do with the characters, and such. Are there any episodes that have more depths than flat jokes about reproductive organs, digestive functions, interracial dating, mating in space? A space mission needs to be diverted because an officer needs to pee on its home planet? I have a hard time to make my GF sit through this with me, is there any hope this get better?