Season 7|Episode 5 The Man With Two Brians
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Pretty sure you're referring to Fifteen Minutes of Shame but Stewie does the "Jerry Jerry Jerry" chant in The Former Life of Brian
The MTV show Jackass ran for three seasons, after which creator, Johnny Knoxville announced the show would not continue, due to disagreements with MTV about censoring and advertisers.
It's the first episode of the Cleveland Show.
Wasted Talent
Technically, Cleveland leaves Quahog in episode one of The Cleveland Show, but the last main appearance of Cleveland in Family Guy was in Road to the Multiverse where he is a Disney-style skunk in the Disney universe. He is mentioned in the next episode, Family Goy, as having left.
Clark Doyle did not have a part on the show Modern Family. However, they did dedicate an episode to him. This is probably what you are referring to.