I know that on FRIENDS, they filmed the show with a live audience. They used the audience to figure out if the jokes were funny enough and drew a lot of feedback from them.
The show definitely also used laugh tracks as well.
Some shows use an obnoxious amount of laugh tracks though.
It’s weird AF, because their conversations is part of the reactions from the audience / laugh track. So when there’s no laugh track, there’s just long, silent pauses between their lines.