I’ve analyzed the pilot’s DVD video structure and I have good and bad news.

The good news both the live action and effect shots are at 24 fps, encoded as 3:2 pulldown. So no separate processing is needed. (The initial crawl is at 30 fps but I think it can be disregarded)

The bad news is that the show was edited on video (60/30 fps), so scene changes don’t match 24fps.
That is, scene changes can occur at any frame, and break the 3:2 pulldown pattern.
So we get interlaced frames here and there, until the pulldown filter adapts. I’m using VirtualDub, but the same should apply to other software.
3:2 pulldown only: https://streamable.com/xg8qrs

One option is to run a deinterlacer over the 24fps material. You end up with some duplicate frames and deinterlace artifacts.
3:2 pulldown + deinterlace: https://streamable.com/4i214c

Another option is to simulate what an old CRT would do, and simply deinterlace everything and present it at 60fps. You get duplicate frames and some deinterlace artifacts, but it doesn’t look bad.
Deinterlace to 60p: https://streamable.com/wqrhbi

I decided to try a frame based upscaler on the first 2 versions.
On top you have the result at 960x720. On the bottom row I unsharpened to images to analyze detail.
As expected the 3:2 pulldown only version has better detail.
https://images2.imagebam.com/39/03/7e/a32a6c1349363260.png

So it’s a tricky situation…

PS - all DVD samples had level, gamma and saturation adjusted. I also run a chroma filter to get rid of line artifacts on some frames.