Then you may want to try "Survivor" from the 14th season. That'll give you Curtis, Briscoe, Van Buren and Jack McCoy. Very good episode, lots of twists.
"Jurisdiction" from the 3rd season is very good as well. It'll give you some more Briscoe, Executive ADA Ben Stone at his finest, and a very good look at Mike Logan. It's also somewhat unique in that (as I recall), the story wasn't just "inspired by" but actually used names for at least two central characters, and ended with a "where are they now" epilogue.
For Abbie Carmichael, one of many ADAs working for Jack McCoy, her best episode is possibly "Agony" from Season 9.
For the new Executive ADA, Michael Cutter, I can't really recommend any specific episode. Lost interest after Jack McCoy became DA, and the few episodes I saw, I didn't care a lot for.
And of course, Olivia Benson, you can probably pick almost any episode of SVU to give you an idea of what to expect.
One word of warning; don't get too attached to actors voices. Legacies does NOT use anyone from the series and while the voice ACTING is generally fine, I find the voice ACTORS to be incredibly annoying, but....That largely because I'm familiar with what they "should" sound like.
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