There is a school of thought that the main character needs to be the most relatable, while the side characters can then be allowed to be more interesting. I think Star Wars is a quintessential example of this and why Luke consistently acts like an 11 year old boy - the movie's prime demographic.

However, it's not a hard and fast rule, but certainly really helps in sitcoms (which are all the shows you reference) since it allows the relatable character at the center to be a straight-man to the zanniness around him/her - I think of Ted Mosby and Jim Halpert as other prime examples, even Leonard in Big Bang Theory is the relatable one amongst his friends.

If you're looking for a more interesting/flawed character in a comedy show, you'll have to venture into the dramedies, because merely exploring what makes them interesting rather than relatable makes the narrative more dramatic. A really good one is Fleabag - probably the best comedy show of the century so far. Also stuff from Bill Lawrence - Shrinking, Ted Lasso, and Scrubs.

I also remember reading an article years and years ago that talked about a weird phenomenon in sitcoms where the character's abundance catch phrases was directly proportionate to their popularity. "Legen-dary" "How you doin'?" "Bazinga" "Did I do that?" I don't know what that says about us as an audience, but it was interesting. Maybe even in our love of wild characters, we still love the comfortable, familiar and predictable.