Someone mentioned in a lower level reply, but Startrek and the Orville are great for political / social commentary.

I think a fair amount of sitcoms have some element of educating on social norms. Seinfeld and Its Always Sunny maybe require more prior knowledge about subject matters, but covering things like abortion, immigration, racism, etc.

Mythbusters and similar are pretty good about being “adult” science shows.

Maybe documentaries don’t really count as “entertainment” the way you’re looking for, but Planet Earth is a great series.