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That wouldn't really mean exactly the same thing though. If it did, there would be no point in us having both tenses in the first place. :)

"Which of those people did you see yesterday?"

"I saw...

Err no, it doesn't. At all.

"I saw the man who is with the girl."

or even

"I saw the man that is/ that's with the girl."

You categorically cannot use 'which' here (and you don't need to...