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Joseph received an Emmy nomination in 1968 for outstanding performance by an actor in a supporting role in a drama for his work as Len Wickersham in CBS’s crime drama Mannix.
He was also nominated for a Tony award in 1962 for his performance alongside Henry Fonda and Olivia de Havilland in A Gift of Time.
The actor is survived by wife Jill Campanella, whom he married in 1964, and his seven sons and eight grandchildren, according to Variety.