Actually, it's from 2003, not 1994. It was definitely more of a drama than a comedy. There were only two episodes out of the entire show's run where all five Senshi were together in battle, and an entire story arc that lasted a long time where Sailor Mercury was being mind controlled. You can probably find episodes on youtube if you look.
Honestly tho, the DiC dub had voice actresses that actually sounded like their characters. Ie Venus never sounded more like Venus in the Viz dub..as well as ALL the others Including the youmas! 😅