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Today on TV

NFL preseason (6 p.m., ESPN): It's a rematch of the last Super Bowl — Cardinals at Steelers.

Who Wants to Be a Millionaire (7 p.m., Ch. 4): Regis Philbin hosts; Olympic gold-medal winning gymnast Shawn Johnson plays for charity; CNN reporter Candy Crowley is the lifeline expert.

Royal Pains (11 p.m., USA): Hank learns Tucker's father has a substance-abuse problem.