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1. Although it does have it's moments, of the cartoons mentioned, Family Guy is actually my least favorite ....Simpsons is the OG so I tend to respect it more. But as far as right now...... if all 3 are on TV and it's a new episode, the one I'm actually watching is South Park.
2. My main point was to refute IL_Barto's point. Basically, who cares if the animation is "pretty bad". I don't really care. And it sounds like you like it for what it is. Idk. Animation-wise I probably like Boondocks but eh...
3. By "jokes" I basically meant the writing in general.. Knowing the characters is part of what makes it funny. Plus South Park is often culturally relevant to whatever is going on so ya it's not solely about "jokes". I can see how me saying that would lead you to believe I like Family Guy the most though.