For me it's Fraiser, the Nanny, King of the Hill, the first 10 seasons of the Simpsons, Law and Order Criminal Intent, Law and Order. I may also recommend Bob's Burgers, and if you like Fraiser, you might enjoy Cheers, and if you enjoy Cheers you might like Taxi. You could also try Seinfeld or the Golden Girls.
I used to get a channel called FTV, I think, and their /late/ night line-up was Maude -> Barnie Miller -> One Day At A Time (not to be confused with the remake) -> Designing Women (you've now stayed up too late)
I also find Gimme A Break, Laverne and Shirley, Magnum P.I., Father Brown, Columbo, Matlock, Crossing Jordan, Hart to Hart, Rizzoli and Isles, Midsommer Murders, Las Vegas, and Dynasty to all be pretty comfy.
I've only watched a couple episodes, but Midnight Diner seems good in this way, if you don't mind subtitles.
My favorite show is Lodge 49, whichbis good for a rewatch because it's so layered with meaning and symbolism.