Among all the series I have seen, there is one in particular that I would like to recommend, its name is "Disenchantment" which is produced by Matt Groening (the same producer of "The Simpsons").
The main characters are 3, the first main character is Bean, the king's daughter who is spoiled and enjoys benefits and special treats, however, she is going through an emotional void due to situations in her life that do not allow her to have emotional stability. The second main character is Elfo, who within his village is marginalized, but outside of it is treated normally, he is Bean's best friend. The third and last main character is Lucifer, and as his name refers, is the physical representation of Lucifer, within the series is the character with more development (in my opinion).
The reason why I would recommend this series is because it is entertaining and all the plot (magical and medieval scenarios) has a reason to be, although the chapters are not necessarily continuous, the plot and seasons are linked around a specific point.
In short, it is an animated series with humor for adults, where we are shown the personification and development of our subconscious (the bad side and the good side).