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All of the Doctors at the time appeared in "The Day of the Doctor", although only quickly and not with any lines, as many of the earlier ones are dead. However, offscreen all of them used their TARDISes to place Gallifrey in a pocket universe.

There are other episodes which include flashes of them, but DotD is the closest.

It should be noted that only one of the future Doctors was included in DotD, so technically it did not include all of them.

Also, "The Three Doctors", "The Five Doctors" and "Dimensions in Time" included all the Doctors at that time.