The panel show uses national surveys to establish which of its guests is closest to - and furthest from - the average British person - the most Average Jolene or Joe, or Maverick Matilda.
Recorded remotely, with Millican hosting and the four comedians contributing from their own homes, the line-ups will once again comprise "three champion women and one smashing man" according to the stand-up.
Elephant In The Room is made by Millican's own production company, Chopsy. It previously made her BBC Two series The Sarah Millican Television Programme, which ran for three series between 2012 and 2013.
Millican has also been trying out new material at her Playground nights online, ahead of announcing a new live tour.
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