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Alan Rosenberg was once known as a charming, hard-working actor with a passion for his craft. He had a knack for playing softhearted roles — the slightly schlubby boy-next-door whose vulnerability was so endearing, you immediately loved him. He got his break as the intellectual among sharks on the courtroom drama, “L.A. Law,” and, more recently, he played a compassionate children’s legal advocate on “The Guardian.”