I remember farscape it's been so long since I've seen it, it had a good run of five seasons I think there was more, but I can't remember the exact number was it's final. but I love/hated the ending, not the type to scream out spoilers. but regardless, it was a long runner on tv and I still see other stations running it, just no longer the syfy channel where it originally appeared on.
We bought the series last year, having never watched it when it originally aired. We loved it. Its got everything; humour, a good story arc, great characters. Don't forget to get the movie that finishes the series, "The Peacekeeper Wars." The original show was cancelled suddenly after its fourth season but they got enough fan support to make a movie that would wrap up the remaining story arcs.
Yes. I was glad that they manage to wrap up the series in some form. There are too many series out there that get end on cliffhangers or unresolved and then get cancelled suddenly. You are then left wondering what might have been.
To answer your other question my two favourite characters are Crichton and Rygel.