The problem with Crystal S1&2's animation was that Toei had stretched their talent pool incredibly thin with a million different projects at the time (it's actually been a problem with the entire industry since the mid-2000's, really), the schedule didn't allow the staff time to actually properly draw everything, there's a ton of outsourcing to other studios with less experienced animators under an equal amount of crunch, and there's a ton of difficulties in constantly communicating with a bunch of different studios under said tight schedule.
Combine that with extremely intricate and unconventional designs and you have a recipe for disaster.
Drawing takes time, and drawing designs like Sako's takes even more time. Even that infamous episode of Dragon Ball Super had extremely skilled veterans like Ken Otsuka working on it, but the vast majority of people simply can't draw as fast as studios are demanding these days. People blame the budget a lot, but no amount of money is going to fix a terrible production schedule caused by the need to go work on even more shows. Super actually had a very large budget in order to pump out all those episodes in such a short time, iirc. It's sort of like giving Leonardo Da Vinci a billion dollars and telling him to make you The Last Supper in three minutes. You're only gonna get stick figures at that point.
Nobody wants their work to look as ugly as it ended up being, but when you have thousands of other drawings to work on in a short period of time, and/or you're a new animator who's still learning and honing your skills, you're pretty much forced to sketch something as fast as possible and hope the animation director has the time to fix it. Sadly, the animation directors were busy fixing tons of other things that probably looked even worse than the infamous Usagi and Rei scenes.
Nah, it definitely wasn't intentional. Shows like that can ruin the reputations of the animators, too. In fact, there's a lot of instances where animators ask for their names to be removed from the credits because of how displeased they are with the end result of their work.