Complex sentence: According to Dirk Benedict, Vaughn was actually added to the cast of that show because of his friendship with Peppard as it was hoped that Vaughn would help ease tensions between Mr. T and Peppard.
Split into simpler sentences: According to Dirk Benedict, Vaughn was actually added to the cast of that show because of his friendship with Peppard. It was hoped Vaughn would help ease tensions between Mr. T and Peppard.