Reading the Wiki' entry about this series (Yes, I'm aware Wikipedia should not
be considered an "authoritative" source of reference), the legal issue this show had was not with the properties it parodied, but rather with the estate of James Thurber. Supposedly, Filmation had not secured the rights to use a "framing" structure and title character name "inspired" by Thurber's famous short story. When the series was repackaged with another Filmation show a bit later, the live-action "framing" structure was dropped which contained all references to the name "Waldo Kitty". Thus all that remained was the animated footage.
I found the "Cat Trek" episode on YouTube, but it's dubbed in French. There are several French dubbed episodes there, but none in English (that I could readily find).