Fresh Prince After Dark - S4-E9
Visible crew/equipment: In the episode where Hilary poses for Playboy, Hilary's strap-on mic is visible on the back of her red dress when she, Will, and Carlton first enter the Playboy party. It is gone in subsequent scenes.
Visible crew/equipment: When Jazz says "oops!" the stage lights are reflected in his glasses.
The Fresh Prince Project - S1-E1
Visible crew/equipment: During Will's first introduction to Uncle Phil the camera tilts slightly down to Will and Aunt Vivian on the couch and the boom mic drops into the frame briefly.
Visible crew/equipment: The stage lights are reflected on the vase in the family room. (The one with the pink flower design).
Answer: No, it's not Whoopi Goldberg herself, just like that's not Prince or Ray Charles. The limo is filled with celebrity impersonators, but they're all uncredited and I could find out who played them.
Bishop73