Since I go on vacation after today let's celebrate freedom with a very very hard one :-) To spice things up I will donate 5$ to doctors without borders when first person nails which episode this is from.
And yes, it is from Futurama :-)
Hint 1: Kiff, Zap, Leela and Amy are shown a lot in this episode.
Correct that it can be found among first 6 seasons. Wrong episode unfortunately :-(