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It completely depends on the show. Those mediums are tools that have strengths and they have weaknesses. 
Sure some thing can't be replicated into live action, but that suggests only a certain type of series, one that is fantastical, but that isn't the only sort of show out there. 
I think that an animated series can't capture nuanced, complex emotion in the same way an actor can deliver a performance. An animated character's 'acting' has to be bigger and broader in order to express emotion that a real actor doesn't have to do as much.
I mainly watch animated shows over live-action.