I think the problem of "how to set-up the characters well" is bigger than the problem of "key-frame". Have u tried do more deformation (like blend shape, sculpt demformer, etc.....) to get a better result ? Or have a good planning (design)before the set-up ?
Think about these examples :
-----Shrek in "Shrek"(fat upper body);
-----Sullivan in "Monster Inc" (short legs);
-----small Birds in "For the Birds" (egg-shaped body).
Fat and short models really have limitation for the set-up and keyframe ,so , it need to be pay more "Heart" to fix the problems.
In my experience, character with many props/parts on the body is worse than a fat and short character to be set-up.
Don't give up ~~