Yeah, I would most definitely skip the episode entitled War Stories, as it contains the most prolonged and graphic torture scene, done while one hero is threatening sexual deeds with the other’s wife - there’s a good reason for it, he’s trying to piss him off and keep him pushing enough adrenaline to survive the torture, but it’s still really really ugly and disturbing.
You should watch it on your own, though, as it’s a really great character episode disguised as torture-porn.
If *Earl *is currently too racy for your kids, then *Firefly probably is too. Given your list of likes, I’m a little doubtful that you’ll like it, but it’s really worth a shot. Do this for me: watch the first three eps, and then if you don’t like it, forward to the episode called “Out of Gas”. If that doesn’t hook you, then give it up and find something more in line with your tastes. Life’s too short to waste it watching or reading things you don’t love.
*And cut the second one some slack: yes, it’s repetitive, that’s because the Powers That Be made them essentially make a second “first-episode”, so all that character 'slpaining and situation set-up they did in the real first episode had to be repeated.