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The answer is Magnum P.I. 

On this show, the main character, private investigator Thomas Magnum, periodically provided insights and ruminations via voiceover narration. These narrations usually began with the same line: "I know what you're thinking, and you're right."

Click the button below for a bit of bonus "Magnum Magic" that is sure to bring back memories (and possibly swooning) to those of a certain age (and persuasion).