I love R Lee Ermey, especially his role in Full Metal Jacket... Which if I recall correctly (I may not), he was supposed to be an "advisor" for that movie, but when the he was demonstrating how a real DI would act, the Director decided to use him instead of the actor who had been hired for the role.
All that said...
I think he is starting to show his age a bit... Some of the new show sounds a bit forced and fake...
No doubt, I would by the man a few beers if ever given an opportunity.