I've never had issues with Dream Works sequels. I've enjoyed all of them. Granted I've never watched Madagascar.
Missing an ageing, half insane racist? That's one of the reasons why it is so perfect! Mel was great in the first two Mad Max films, but even he admitted he wasn't right for Fury Road.
I really liked HTTYD 2, but it was a LOT darker than the first one. Seriously, the part where Hiccup was forced to watch helplessly as his mind-controlled best friend tried to kill him, only to kill his father instead? That was several kinds of *squee!*ed up.