Another option could be the 'Harry Potter' series. It has a complex and magical world, with a heroic protagonist. Just as Xena has her own quests and battles, Harry Potter has to face many challenges in the wizarding world. And of course, it's suitable for a wide range of audiences.
The 'Lord of the Rings' trilogy is also a great choice. It features a grand adventure, a diverse cast of characters, and a battle between good and evil. Although it doesn't have the same female - led concept as Xena, it shares the aspect of an epic journey filled with danger and heroism.