I like the Wagon Train format of characterization. There would be a few recurring characters, but each episode would focus on a guest star. The story would be about that guest star's character-a member of the wagon train, or someone met along the way. (This kind of show has a Roaming the Earth trope). That guest star character may have a life changing experience, even if the recurring characters did not.
I can imagine combining that general format with a variety of episode lengths. Some may be two-parters, others trilogies, with an occasional stand alone.