Not a full show, but I think the Hip-Hop Honors performance is one of the best TV performances they ever did. In 2006 I think? I remember there being a contrast between some other inductees that maybe hadn't touched the mic for 15-20 years, having these guys that have been recording and touring consistently since the 80s put on a masterclass performance.
Even the tribute performance... it's not so bad (I've grown to like it), but it doesn't really compare to the real deal.
https://www.youtube.com/watch?v=5NRgVsPV71Y