I have never seen a full episode of The Simpsons but I have seen lots and lots of clips from episodes, some of which are funny. The episode in Family Guy where they visit Springfield and The Simpsons is actually funny, but not enough for me to watch the show.
Futurama was something I absolutely loved, but have not seen every episode. I think the episode that most everyone who has watched the show can remember is when Fry's dog waits for him outside of a shop after Fry goes into the future. Truly sad and tissue-worthy. The cast is also more iconic, imo, than The SImpsons as far as the names.
Also, I am a firm believer that The Simpsons has gone on too long. I saw a list in the last couple weeks where the Top 20, or 25, episodes ever has all but one before Season 10. That one after was like Season 11 or 12. Insane that there's not one amazing, top-tier episode after season 12. Proves that you need to take this show behind the barn and end it.