Season 1 is the discovery, finding your feet in a World that has fallen apart.
Season 2 they find a rhythm, and a home-base, and because of that a power-struggle starts.
Season 3 that dynamic deepens, after losing the farm, they find a new home, and more powers that are vying for dominance.
Season 4 everything breaks down, and we learn more about the individual character as they get themselves together(or fail to).
Season 5 forced to the brink, the main-characters fight their way out, their own way.
Seasons 1 and 2, I think.
Season 2 because of the power struggle between Shane and Rick. Also it introduced Hershal who I loved. It also added dept to a lot of the characters like Carol, Rick and Daryl.
Season 1, in my opinion. The reason behind it is because it is where they are still figuring things out and everything is new to them.
Season 3 when lori died