I was recently told by a student about the Harold, a structured improv game. Although much of it word-of-mouth, the Improv Wiki describes it as being constructed as an introduction, that lead to separate scenes, then back to a group scene, then repeat the separate/group scene cycle. It looks something like this:
My student told me that mockumentary television shows like Modern Family often use this format—most likely since the writer rooms are filled with people coming out of improv.
I’d likely build it on top of WOARO to help build out the show.