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Just expanded upon this post, while adding more clarifying detail
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I mean ahave there ever been some book, audio, comic storyline, or even tv episode. The companions were not traveling, that we are greeted with theThe Doctor at, and he must go save his previous companions from regenerations past. This isn’t referring to the point eitherspecial episode in Sarah Jane Adventures where Matt Smith appears though.

I mean a book, audio, comic or even tv episode. The companions were not traveling with the Doctor at the point either.

I mean have there ever been some book, audio, comic storyline, or even tv episode, that we are greeted with The Doctor, and he must go save his previous companions from regenerations past. This isn’t referring to the special episode in Sarah Jane Adventures where Matt Smith appears though.

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Has there ever been some Doctor Who story in which multiple companions from different Doctors were kidnapped?

I mean a book, audio, comic or even tv episode. The companions were not traveling with the Doctor at the point either.