Friends was shot probably on super 16mm, at 23.97. I can double check and email a buddy who was an editor on it, but I'm 99% sure it was super 16.
Likely, the transfer occured in SD, not in HD. Some shows are remastering, some aren't...some are willing to wait...and resell you the dvds (or blu ray...) for a special editing.
Most stuff was shot at 24 (23.97) transfered to video...and just edited and finished that way; probably during friends they didn't go back to 24...as the broadcast was going to be at 30.
Later, certain post tools permitted editing at 24 and finishing to occur easier.
Sopranos was shot on super 16, and later in the series telecined to HD....which is how most shows are shot 'with a budget' - but, for example, much of USA is shot on HD or on Red...and transferred to HD to be edited and finished.
The actual cost of film (vs. the actors) is nothing - the bigger expense is always time.