Comedies often have some mockery built in, and comedies aimed at kids in particular like to take shots at authority, but there are a lot of examples I can think of in just the general-TV-millenial-vibe-y things I've watched over the past couple of decades. More than the "bumbling dad" type, I'd say, from things I've seen in the zeitgeist (I guess one recent super typical example is Rick and Morty, though everyone sucks there):
* Arrested Development: Michael is the most competent of the bunch. His father was also quite competent, if an asshole and eventual criminal. But, you know, that put the "sit" in sitcom...
* Luke from Gilmore Girls is pretty consistently more sane than Lorelai, turns out to be a good dad too IIRC; other fathers include a loser and a number of very successful businessmen, teachers, etc.
* King of the Hill: doing his best, often the most sane of the bunch
* Bob's Burgers: haven't watched a ton of this but from what I've seen Bob is a goofball but respectable and wholesome, kinda a Hank Hill. Not a lazy Homer
* Parks and Rec: Ben Wyatt is a pretty positive character
* Brooklyn 99: Terry is practically a superman of competence and seems to hold is own with his wife and kids. Holt is a supremely competent husband. Boyle is a goofball generally and in dating, but that does not really extend to his eventual marriage and child, where he seems to be doing quite well.
* Schitt's Creek: Johnny is the competent center of the family surrounded by comically exaggerated crazy wife + kids
Dramas seem even further away. Where do Breaking Bad or the Sopranos land?
