Hinamatsuri, Mob Psycho 100 II Recommendations
A mixture of dark psychological themes and lighthearted comedy in a way that doesn't feel jarring while at the same time getting across a feel-good, positive message. Hina focuses on the father/daughter dynamic and Mob focuses on siblings, but both heavily involve family. Both are extremely well animated and both involve Espers.
Although both anime are meant to be supernatural-themed comedies with psychics, in practice they focus just as much on legit drama, of both the tearjerking and of the heartwarming kind.
There are also tons of character development involved. As examples, I'll note Anzu (the ensemble darkhorse of Hinamatsuri) and Mob during the second season.