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Yes, in "The Day of the Doctor". They also encountered each other in the climax to the comic miniseries "Prisoners of Time" (comic story), as well as during a dream sequence in the Tenth Doctor comic strip "To Sleep, Perchance to Scream" (comic story) which was published in 2010 (the earliest licensed crossover). They also encounter each other, after a fashion, in the Big Finish/AudioGO audio drama "Death's Deal" (audio story), part of the Destiny of the Doctor anniversary arc.