At the end of the interview, Lisa Whelchel is asked about being offered the role when the first Rachel didn't work out (before eventually getting replaced by Jennifer Aniston) but never says who it was.

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I know Tea Leoni was offered the role of Rachel as well as the lead in The Naked Truth. She went with the latter. But I've never heard of who actually played Rachel in the unaired pilot. Aniston was once considered for the role of Monica. That's how they had her name in the mix when it came to casting her as Rachel.