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Currently you are able to watch "Doctor Who: The Doctors Revisited" streaming on Britbox Apple TV Channel , BritBox.
As the Doctor's newest companion, Clara Oswald, steps into the TARDIS, take a look back at previous companions that have won over The Doctor's hearts in Doctor Who: The Companions. Along the way, companions past and present talk about how the show has changed their lives, and how they've never quite managed to leave the TARDIS behind.