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No, Elisabeth Sladen (Sarah Jane Smith) and Penelope Wilton (Harriet Jones) are not related.[1]

  1. Of course there's a 50% chance that any two white English people share an ancestor in the past 1500 years, and all humans share an ancestor if you go back 60000 years or so, and all humanoid species were patterned by the Gallifreyan morphic field… But Sladen and Wilton are not closely related enough for anyone to have records connecting them.