I'm a big Simpsons fan, and they haven't spoofed Fosters. I don't think Family Guy has either - not sure about American Dad, though. Futurama definitely hasn't.
Why is it embarrassing for your family to know the characters?
By the way - Cassini, good for you. I've felt that way about characters before, and good for you not being ashamed of it. If Frankie knew, she'd really appreciate that.
