I watched the whole lot thanks to lockdown. I used to like up until series six or so, but had a look at the later ones. Yes, the actors certainly all look more "lived in" nowadays.

The later series/seasons are very uneven, which surprised me. I stopped watching originally around when Chloe Annette's Kochanski was introduced but I was surprised that instead of a steady decline that the quality was very up and down.

Yes. Kryten had definitely been at the pies

I rewatch it a lot and the only season I skip is 9. There are a couple bad later episodes I'll skip but there are more than a few bangers in the later seasons.