I was just watching season two of the G1 transformers on Netflix and Perceptor had a Decepticon logo on him. Season 2 episode 11 at 3 minutes 20 seconds. Keep an eye out for that guy.
Over the course of the first season, Ratchet had a Decepticon symbol and Soundwave and Starscream had Autobot symbols in a few scenes, and tons of characters occasion had no symbol or the wrong symbol color. G1 just had bad animation.
No, with the exception of AKOM's substandard work, G1 animation was usually above average for its time. It was riddled with errors due to its crazy production schedule and communication between Hasbro, Sunbow, and Toei was often botched, but Toei's work was far better than the contemporary Hanna Barbera and Filmation cartoons. Much of their work on the show still holds up to this day.