How I loved Futurama! Much like with the Simpsons, it will helpfully provide a quote for anything , and its hyper focus on scifi and adventure made it more interesting to me. Though I'm a fan of the first "age", before the movie(s) and cancellation. I heard bad things about the later seasons, and don't want to taint my memories of the show by watching them.
IMDB ratings seem to agree with your sentiment (7ish out of 10 opposed to the 8ish of earlier seasons). But watching through the series start to finish I didn’t notice any drop in how much enjoyment I derived from the show. I definitely don’t think it will taint your memory.
And as another sibling post said, the send-off episode always tugs at my heart.
I’d recommend finishing the series if you enjoyed the earlier seasons.