No, I haven't, but I've watched The Orville. Seth McFarland (Family Guy) has done a good job on it. There are light moments, but many serious themes. It's not a parody of Star Trek, but a good tribute to it. There are some inside jokes, like the Captain's ex-wife, who is his first officer, is named Grayson. Don't get it? The maiden name of Spock's mother. Bordus is modeled on Word and Isaac is definitely based on Cmdr Data. Like Kirk, though, the Captain always goes on away missions.