Others have mentioned these, and I agree, but I also notice they have special circumstances. For instance, Ugly Betty's family had all this contact with the fashion world and the super rich family. Brotherhood is a good one--but it also focuses on crime and corruption. FNL is a good example, but the main characters are the coach's family, which is a different viewpoint than some characters who came from the town. (Not that we don't get those characters' lives too.) Carnivale's characters definitely didn't have money, but it's also a fantasy series.
Oh, and I'll Fly Away also had two families, the homelife of the one, and the homelife of their cleaning lady.