Ugh, I KNOW what show you're talking about but the name's escaping me too. Wasn't there a catchy theme song? I remember coming home from school and rushing to watch it.

omg this is driving me crazy too now, i totally remember watching something like this! wasn’t there a dog or some kind of pet involved too? or am i just mixing up a bunch of old shows lol

Sounds kinda like 'The Get Along Gang' but that's earlier than the 90s. They had a bunch of animals hangin' together, some singing involved. Not sure about the quest part tho.