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Possibly unpopular Doctor Who opinion: while my favorite companion is Rose, I think Donna Noble is the best companion, and a shining example of what I want to see a dozen more seasons of. She grows immensely, and she’s fearless without being foolish.
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More importantly—though not entirely unique to 2005+ Doctor—she’s an active participant instead of just being a fawning audience. But on top of that, she has a platonic intimacy with the Doctor that perfectly captures what I think of as the ideal for that role.