Phillip R. Allen made several guest appearances on "Lou Grant" including a character named David Marcus. He also played Captain Estaban in Star Trek III: the Search for Spock. In that movie and the previous one, Captain Kirk's son's name is also David Marcus.
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I've also heard Michael Dorn, Worf from The Next Generation, say that he was in some background scenes of MTM show. I think his neighbor worked behind the scenes and let him sit in sometimes as background - you know those desks that always had people in them along the wall going into the studio but no one ever really spoke to those people.
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