In the case of season 1, the episodes were preliminarily done in 35mm film, then finalized and mastered on video. If the 35mm prints still exist in the nick vault, sure they could scan them in 4k or beyond, but then those elements later added on video capped at a 240i resoloution would need to be redone, which is probably too much time and effort for the company when they're already making enough money on transfers from a decade ago.
For seasons 2 and beyond, the animation was obviously done entirely digitally. This means if they held on the the source files, they could re render every episode in 1080p, but it's doubtful they'd be able the stretch the frame to 16:9, considering the animators finalized the animation in 4:3, so who knows what's finished in the outer part of the frame.
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