The program 3dTsmooth (very old) can take as input a 3D+time dataset and output a new dataset where each voxel time series has been smoothed in such a way.
3dTsmooth is indeed the most straightforward way to solve this problem, and that program has options for controlling the kind of filtering that is done. If you want to do something a little differently, you can create your own temporal neighborhoods with 3dcalc. From the 3dcalc help:
-a fred+orig -b 'a[0,0,0,1]' -c 'a[0,0,0,-1]' -expr 'median(a,b,c)'
...
The median smoothing example can thus be abbreviated as
-a fred+orig -b a+l -c a-l -expr 'median(a,b,c)'
If you are just interested in looking at the plots in the AFNI GUI, you can use the "Opt->Tran 1D" menu to choose a time filter such as "Adaptive Mean".
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