According to a close friend, her cause of death will remain unknown without an autopsy because she was Christian Scientist.
Off-Broadway she was seen in Annie Baker's John at Signature Theatre for which she won an Obie Award, Uncle Vanya at Soho Rep, and, Will Eno's Middletown at Vineyard Theatre.
Engel was best known for her role as Georgette on The Mary Tyler Moore Show, the character who was improbably destined to marry pompous anchorman Ted Baxter, played by Ted Knight.
More recently, Engel joined the cast of the CBS hit Everybody Loves Raymond as Robert's mother-in-law Pat, scoring three straight Emmy nominations for Outstanding Guest Actress in a Comedy Series from 2003 to 2005.
Engel was the daughter of a US Coast Guard admiral, and growing up she moved many times across the US.
She was "the sweetest, kindest, dearest woman".
Georgia's Broadway roles included Mrs. Tottendale in The Drowsy Chaperone; Minnie Fay in Hello, Dolly! with Ethel Merman, The Boys From Syracuse, and My One and Only with Tommy Tune.
Her real-life voice was as sweet as the one familiar from her screen roles.
Engel reunited with "Mary Tyler Moore's" Gavin MacLeod in 2018.
Engel's final credited television appearance came a year ago in the Netflix series One Day at a Time.