Milo Ventimiglia from the megahit "This Is Us" is at the kitchen table with Rach -- and reveals what it felt like to have his character aged for tonight's season finale! Plus, he's answering questions from our audience (can he do more push-ups than his co-star Sterling K. Brown!?) and giving one lucky fan a hug! Then, former "Pretty Little Liars" star Lucy Hale stops by with the scoop on her new show, "Life Sentence" -- and she plays our version of "Plead the Fifth," "Hale or Bail!" Plus, ABC's Dan Harris shares his meditation secrets -- and don’t forget to save room for Rach's Slow-Cooked Barbacoa Tacos!