More like "How I met the woman who I really wanted to be with, but she didn't want to have kids, so I married your mother instead, and now that she's dead, I am asking you for permission to bang that other woman again"
Grew up with Friends, and find myself watching it whenever I happen to catch it on TV. Couldn't really get into HIMYM.
It's got some comedic situations and Joey is a star for the comedic relief he provides. I wouldn't say it's particularly "boundary pushing," but it set the stage for many shows afterwards like Modern Family