Yes and no. RX-24 ("Rex") has always been voiced by Paul "Pee-Wee Herman" Rubens.
Star Tours first opened in Jan. 1987 at
Disneyland Resort, replacing "Adventure Thru Inner Space" (sharp-eyed viewers can spy the giant microscope from that attraction in the Star Tours film). WDW's version opened at the Disney-MGM Studios almost three years later in Dec. 1989. Ten years later, in 1999, when Lucas released "Star Wars Episode I: The Phantom Menace", Disney remodeled the attraction's souvenir shop and gave it a "Tatooine" makeover.
In 2005, George Lucas confirmed that ILM and Disney are indeed planning on making Star Tours II a reality. The plans would call for the ride's rear-projection screen to be replaced with a 3-D hi-def video screen that would not require special glasses.