>

I love Taylor as a character because I find him so infuriating. He is a suburban fascist. 
In a different time and place he would have been ratting out enemies of the state.
About Emily...

It was Richard's hard work that built the beautiful house he and her lived in, and when they separated, she had the nerve to make Richard live in the pool house.

Leading up to their separation, the show made a subtle point that Emily, like a lot of spouses of her time, contributed quite a lot to Richard's success in the form of managing his social calendar, (building social capital) decorating their home and maintaining his wardrobe (signaling their status to their peers) and doing all the other (unpaid, and often unvalued) domestic work to allow Richard to focus on his work. And while Richard did benefit from those things, he was completely oblivious to them, and thus felt no appreciation or gratitude towards Emily for her labor. 
You can argue she's not a good person, but 'immature' seems a poor fit. >

She’s a shrew. That’s why I always jokingly call her Katherine. >

Sure... but even in Taming of the Shrew, Kate isn't immature. And she isn't wrong about being treated like a piece of property instead of a person. She's a shrew because she's smart enough to realize she's getting the bad side of the deal, and confident enough to speak up about it. >

The main point of the show is that Lorelai was and is a child acting above her capability to make the best for her daughter, and Rory was and is a child acting above her capability for her mother.
Lorelai was controlled and manipulated as a child. The consequence of that was that she became pregnant and was left in the situation where she didn't have the opportunity to develop balance and control that comes with adulthood. 
Similarly Rory wasnt allowed to experience learning how to be an adult because she had to act like an adult when she was a child. 
So, yes, they are immature in some sense, but also overly mature in others. The point of the show is that generational harm is very difficult, even when people have good intentions. 
But further, you are missing the key parts of the characters maturity. Lorelai goes back to her mother for the benefit of her child. It is reluctant, and with some difficulty, but she does believe she can sacrifice to make her child's life better. 
Of course, again the show poses a question: is that the right choice? We can see the harm that Lorelei's mother does to Rory.
Then they grow and mature through the course of the show. Lorelai becomes more stable, Rory is permitted to make mistakes and recover from them.
As to whether they are good people: Lorelai and Rory love each other and make sacrifices for each other throughout the show. They are flawed, but not bad. >


The main point of the show is that Lorelai was and is a child acting above her capability to make the best for her daughter, and Rory was and is a child acting above her capability for her mother.

I would say it is more her trying to do things her own way without a model on how to do things a way different from her parents. Her bad decisions are her figuring things how as she goes. Making mistakes and then having to repair them in her own way.
Her main conflict in the show is rejecting all of the ways of her mother while always wanting to do the right thing for Rory. There are times >

Lorelai flits between Christopher, Luke, and Max all the time. She is codependent on Rory which is weird. 
Emily is a see you next Tuesday but I kinda like it. 
Babette and Sooki are the best female characters in terms of role models. 
I just love that show. Taylor is one of my favourites.
Does anyone have any suggestions for shows similar to GG?