I had always seen The Orville as a simple form of entertainment. I didn't notice there was some deeper meaning where it wants to teach us about some utopian future. At the very least not to a degree that makes it a prime example for that.
On that note, what would you suggest as a prime example for some utiopian future?
Good question, there aren't many these days.
First thing that springs to mind is Iain M Banks "Culture" series.
You can read them in any order. The earliest one (Consider Phlebas) I never much liked. Use Of Weapons was my favourite. Player Of Games was good too. If you were only going to read one, probably Excession - it is the most sweeping, epic one. Some of the later ones are good. If you just want the overarching ideas, they are explained in an essay called A Few Notes On The Culture which he posted to newsgroup rec.arts.sf.written in 1994. Copied here: http://www.vavatch.co.uk/books/banks/cultnote.htm
Utopias, I think, are probably more personal than your underwear.
I'd have thought it was hard to miss, especially with the discussion of genocide against the Kaylon.
It also features a race of homosexuals who have a thing going on with gender reassignment surgery.
The Orville teaches us that, throughout history, and with all likelihood in to the furthest reaches of time, humanity will struggle, or not, with approximately foibles and philosophical issues.
Probably nothing new to most viewers of the overall genre. Star Trek TNG wasn't particularly funny, certainly not comedy. It'd have been great if The Orville was on when I was watching TNG the first time.