Not really. It's kind of a show that doesn't know what it wants to be where it's goofy/emotionally touching fun time adventures mixed in with more serious plot-heavy episodes but the characters are never really invested in what's happening around then.
For example, in one episode a ally of theirs fuses with a bad guy and then takes control of their fused form, dragging it down to the bottom of the ocean and chaining it there in an act of self sacrifice to save people that she wasn't even particularly close to in the first place. The entire cast stares blankly at what happened while Garnet makes a smarmy joke and the episode just ends. This event isn't brought up again for a stretch of time until the plot episode finally kicks back in and Steven suddenly just now cares enough to try and help the situation.
For every decent character moment and plot point (Like Bismuth and her entire backstory) we get multiple episodes and scenes where adult women have big emotional breakdowns and the only thing that can save them is the emotional maturity and wisdom of a 12 year old who didn't even go to grade school because his shitty dad abandoned him to be raised by 3 aliens who don't give a shit about the dad at all.
It's a show that really wants to do goof ball magical adventures that all end in some big emotional catharsis but the writers are not great at handling that particular emotional whammy bar so more often than not the dramatic moments are either just forced and melodramatic or they're just ignored.
It's got its good moments and I've come around on it, I just wish it was a more consistent show, because I want to like it more, but it flops a lot more than it flies.