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He (well, "he" being just the Doctor; not specifically the 10th Doctor because he has already regenerated) could see her by going back to some other point in her timeline (as we saw him do in "The End of Time"), although he would have to be extremely careful about interacting with her directly because he would be at a high risk for creating a paradox if he changed too many of the details. As it stands, he cannot see the most "current" version of Rose (that is, post-Series 4) because she is living in a parallel universe, to which all passages from the universe that the Doctor is in are closed.