You don’t mention any reality shows in your original post. Have you watched any together? Highly recommend binging some Survivor seasons - hard not to get pulled in hook, line and sinker. I’m sure people could suggest some seasons (there are 41 to choose from!!!)
Amazing Race also great.
If you want something more subdued, Great British Bake Off.
Ditto this. I didn’t realize until watching it with my D how dated the show would be. Still very funny, though!
We’ve watched many shows with our 17-year-old son (and with our 20-year-old daughter when she’s around), but the most recent is the CBS sitcom Ghosts, which was a pleasant surprise. Not groundbreaking by any means, but a very nice way to spend half an hour. We binged all nine of the episodes to date on Sunday night (we have the ad-free version of Paramount+, so actually 22 minutes for each), and we’re looking forward to the rest of the season.
My teen/adult kids and us parents all loved:
Timeless
Manifest
Burn Notice
White Collar
Falling Skies
Revolution
Any of us would recommend any of those shows - we usually do when people ask. 
For older shows, I’d definitely consider MASH if your kids haven’t seen it. Also The West Wing - the politics of left and right and the global situation have hardly changed at all and both would give you lots to talk about.
If you like sci fi/fantasy I’d be willing to watch Firefly again, and Buffy the Vampire Slayer. Battlestar Gallactica is great except for the final episodes which stink.
Agree White Collar is great. The characters are fun and complicated. Also The Americans - so much to talk about there. It’s pretty cool that it is based on a real life case of embedded spies.
Ha ha….I got the boxed set and watching it with my D she found it very sexist, which it is, but still funny. Same for Friends.
Ghosts. The bbc version of this show has 3 series which we enjoyed so much. Can’t imagine why they needed an American version.
Well, there have been some pretty successful American versions of British shows, such as All in the Family (Till Death Do Us Part) and Sanford & Son (Steptoe & Son). And many mainstream U.S. viewers won’t seek out a U.K. version (or even know it exists), so TV execs figure there’s no reason not to use a good concept. The U.S. version of Ghosts is nicely done, but I’ll try to check out the U.K. one. We’re not averse to British TV — lived in London for four years and enjoyed a lot of it before, during and since. (Some of it is dreadful, though, like Are You Being Served — being British doesn’t automatically mean high quality.)
It starts off with a lot of sexism, but one of the interesting things that happens is that the nurses get more assertive as the show goes on. (Probably more than they actually would have in the 1950s.) But that’s part of the reason to watch the show IMO.