I see you’re the OP of this thread. So you already know the existing issues with not having a lot of the masters and losing rights to several titles. Another obstacle lies with some episodes only existing today from best-known transfers off VHS; no amount of transcoding is going to increase their clarity or sharpness, and an upscale is only going to make the roughness you’ve mentioned pop out even more.
Progress can be as cruel a mistress as fate.