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This fan series might interest you. Might. https://guardian-of-forever.scifi-online.org/fics/ORG/avalon.php

I actually know about a fan-made scripted series that tried to do this. It also had some elements of Futurama (especially with the protagonist) and Firefly in it, but I found it pretty interesting. Unfortunately, like a lot of fan projects, it kind of petered out after a while. But I did...