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He also guest starred on many television series during his career, including appearances on Mod Squad, Alias Smith and Jones, Mission: Impossible, Hawaii Five-O, Gunsmoke, The Greatest American Hero, Soap, The Fresh Prince of Bel-Air, The X-Files, Murder, She Wrote and Hill Street Blues.
During the 1970s and 1980s, Vinson continued with guest roles on episodic television appearing again in Mod Squad, Love, American Style, McCloud, The Streets of San Francisco, The Waltons, S.W.A.T., Baa Baa Black Sheep, Battlestar Galactica, and Barnaby Jones.
After The Mod Squad ended, Andrews continued to make guest appearances on various television series, such as Kojak, Marcus Welby, M.D., Police Story, CHiPs, and Murder, She Wrote.