Yeah, when it comes to the animated sitcoms of the time, KotH has held up fairly well. Just like the golden age of the Simpsons and the vast majority of Futurama. Personally, Futurama has held up the best overall throughout its entire run so far. A little shaky during its revival periods, but very solid overall.
Family Guy on the other hand, yeah that hasn't aged well at all. You rewatch the early seasons and you can see why it got its initial cancellation.