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Yes. Rose was present at the regeneration (in "The Parting of the Ways" & recapped in "Children in Need Special") when the Ninth Doctor became the Tenth Doctor. In "The Day of the Doctor", it was clear from their facial expressions that Ten & Eleven both knew exactly who was meant when the War Doctor referred to "the Bad Wolf girl", although the War Doctor himself didn't really know who she was. In addition, the fact the Doctor marries Queen Elizabeth I in "Day" means it has to take place after "The Shakespeare Code", which is a Martha Jones adventure, after Rose left.