Animated shows are almost by definition scripted, so no.
Family Guy is basically the Simpsons, but more absurd and vulgar and with more pop culture references. The silly gag element of Family Guy is more reminiscent of the comedy films of the 60-80s (in style, not quality per se) like Airplane!, Kentucky Fried Movie and the early Woody Allen movies.
The relative lack of pop culture references in The Simpsons has helped older episodes age well. Watch a 20 year old Simpsons episode and it still holds up pretty well. Watch a 10 year old episode of Family Guy and you'll take a trip down Mediocre Celebrity Lane, even though the episodes were good at the time.
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