Another interesting aspect of Firefly is that the pure VFX scenes (eg spaceship exteriors) were rendered originally at 480p, so when you watch the Blu-ray version of the show, you can see a bit of an awkward transition where the shots of the actors are gloriously crisp, but the space scenes are clearly upscaled.
Additionally, like Firefly's pure VFX, some footage in Friends also appears in SD in the HD release (seemingly either because the original film stock was lost, or it wasn't originally shot on film), with the zoomed 4:3 SD vs 16:9 HD sometimes changing mid-scene, and …that too I find a humbling reminder of the quality of yesteryear.
Personally I find most of the 16:9 crops of old shows in syndication quite jarring, especially because in any shot where the formerly extra width doesn't work the editor is forced to vertically crop the original. Here are some screenshots comparing 4:3 and 16:9 Seinfeld and ...eek
https://lambdan.se/blog/2018/11/13/seinfeld-original-vs-wide...
So I would ask if maybe the image was cropped for the 16:9 conversion.
Update—here's what Wikipedia says: “Unlike the version used for the DVD, Sony Pictures cropped the top and bottom parts of the frame, while restoring previously cropped images on the sides, from the 35mm film source, to use the entire 16:9 frame.”
But different shows handled the aspect ratios differently in their widescreen re-releases. Seinfeld included slightly more horizontally than the original TV release but still cropped a significant amount from the top and bottom. That 70s Show as one example that was also shot on 35mm film included the whole original 4:3 frame plus extra on the sides.
If a movie isn't issued in better than dvd quality is because nobody has cared about remastering them to better formats.
I guess there maybe super budget, made for tv films that were filmed on tape and those certainly have reached their digital quality maximum.