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How did Futurama have so many celebrity guest appearances?
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Not to mention Futurama has its own high profile people that other celebrities would probably enjoy working with, and probably had their own pull.
Also, they originally aired on 20th Century Fox, which seems to have a group of famous people that will pop on to random shows for cameos. I also think it’s easier for celebrities to do cameos as voice overs, since they can be recorded at any studio - even home studios.