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They got into a better swing after the whole first season, IMO. The first season commander, Michael O'Hare defines the term "wooden." He was painful to watch compared to Bruce Boxleitner who got his job in season 2, though O'Hare makes wooden returns at times.
The characters, like Londo, evolve considerably. He isn't quite so clownish in later seasons and even acquires an air of menace (he gets an assistant to play the clown). G'Kar doesn't stay the extremely annoying minor villain he is in the first season and turns into quite the character.
Stuff like that. I don't recommend skipping any seasons. Not every episode moves the larger multi-season story arc(s) ahead but they mix those in along with one-shot episodes.
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