Maybe it's my imagination, but did Judith deliberately modulate (https://web.archive.org/web/20140407134732/http://forums.televisionwithoutpity.com/topic/2874131-whos-the-boss/page-8#entry13235149) her voice to sound higher on Who's the Boss? If you ever hear Judith speak in real life, her voice is actually pretty husky sounding.

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Here are other discussions about Judith's voice (https://moviechat.org/nm0509937/Judith-Light/58a8c6460161f307ca395faa/Her-Voice) and how it has "changed" (https://moviechat.org/nm0509937/Judith-Light/58a8c6460161f307ca395f9a/Does-she-smoke) or "evolved" over time.