Agree on it being a good show.
Agree on it nice having a "one man traveling the country helping people" show again. I really haven't seen this roadmap used since Kung Fu or The Incredible Hulk (Bill Bixby). Both of those had a long-term subplot threaded through the individual episodes just like this does.
As for the "one long story" idea... Eh. Don't we have that enough already? I like that the individual story is foreground and the long story (what's the deal with his gov't spy/conspiracy parents) is in the background. That feels more real and natural as a long kept secret is something you find a clue for here and there, in between other parts of your life.
My biggest fear is a long story focus will drive the show into the ground like most long-story plots due. Every cop show that does it has the big-bad-villain get bigger and badder with every season, to the point of the bad guy being Bond level bad. I don't want this going the way of Criminal Minds where the agents became the prey, every agent kidnapped at least twice, and so on.
Some get away with a long story focus. Law & Order Organize Crime for example has that concept baked into the show: You build a big case against organized crime over months of under cover work. That's part of the actual formula for the agency. But when shows like Hawaii Five-0 would do that sort of thing in their later seasons it felt like grasping... or gasping for a last breath of life for the show.