Although I can't really tell what audience this show is aiming for, it is quite enjoyable. As many other reviews tell you, "Tangled: The Series" is an overall combination of warm-hearted, fun scenes that are found in the typical children's show and some other scenes that may frighten kids. That combination is a little unusual; nevertheless, the show is still amazing. I'd say pre-teens would enjoy it the most.
As you might have also seen other reviews say, this series contains MANY fillers. Not sure if I would recommend this show to people who want to get straight to the point. Most of the fillers do include character development, though.
One thing I also want to mention that I saw in another review is that the protagonists are a little different than in the movie. Rapunzel's innocence is quirky and lovable in the movie; in the series, to many (not necessarily to me), it just makes her seem annoying and naïve. Which, she was definitely naïve in the movie, but you'd think after all that she'd been through, she would be much less. She was only the slightest bit less. It makes it even more ironic that she mentions quite a few times in the show that she isn't naïve anymore. Eugene, well, is just her go-to guy for emotional support. He wasn't much of an "emotions" guy in the movie, though I understand he could've grown to be like that the more time he spent with Rapunzel. It's just weird to me to go suddenly from an orphan/thief to a sort-of therapist.
One reason I enjoy this show probably a little more than I should is simply because I am a Tangled lover. Definitely recommend to any Tangled lover. Overall wonderful show!