NCIS Wilmer Valderrama (“That ’70s Show”) and Jennifer Esposito (“Blue Bloods”) join the cast in the season premiere. Mark Harmon stars. 8 p.m. CBS
The Voice Blind auditions continue with judges Miley Cyrus, Alicia Keys, Adam Levine and Blake Shelton. 8 p.m. NBC
Brooklyn Nine-Nine A federal marshal (guest star Maya Rudolph) is the only connection protected witnesses Jake and Capt. Holt (Andy Samberg, Andre Braugher) have to the outside world in the season premire of the police comedy. Rhea Perlman (“Cheers”) also guest stars with series regulars Terry...