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Holy crap, this was a while ago, but I finally managed to figure out HALF of what I was thinking of. The CHARACTERS were from Action Man (1995). The PLOTS - save for the whip-wielding robot and possibly the female character's father/uncle working for the villain - were not. (I didn't even remember, or know, there were live-action segments.) I must have been thinking of a different show.
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Sort of a pulp cartoon from probably the late 90s. The three main characters were a black-haired man (i think he was called "captain" or "commander" by the others), a blonde woman, and a large red-haired man. All three wore black shirts.
Some parts i remember involved a fog moving through a forest and killing whatever it touched, a Winged Humanoid being held by some people in a cave, and a robot with a flail destroying People Jars (and something about the woman's father).
Edit: I managed to find out half of what I was thinking of (see comments). However, I still don't know what series the killer fog, winged person (alien?), and also a scene in a Western-type town with the protagonists being subjected to Bullet Dancing was from.
Update: Having looked further, I've found out it was Bob Morane. I was wrong about the plot involving a killer fog, but I remembered the scene I was thinking of exactly.
Edited by EgregiousEric