One of the more memorable "minor" roles in Columbo as the driving instructor in "Negative Reaction."
An often repeated (but as far as I know never confirmed) story about him was that he was the origin of the "Judy, Judy, Judy" line for Cary Grant. I don't think Storch himself ever claimed credit for it.
I remember him in The Persuaders as well as Columbo.
He was on F Troop too. Great loss but at 99 definitely a full life
I can't name nearly all the things I know him from. One of them on Friday itself (before finding this out), a comical commercial I just ran into on YouTube.
One thing a lot of people mention is his cartoon career, like playing "Mr. Whoopee" on TENNESSEE TUXEDO.