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Martha and Mickey
Sarah Jane and Luke
Jack Harkness and Midshipman Frame
Verity Newman
Donna and Wilf
Rose and Jackie

Technically Verity doesn't count as she's the descendant of a one-off companion. Jackie counts as a companion because she travelled with the Doctor during "Army of Ghosts"/"Doomsday" and impersonated Rose for a time. Frame is a one-off companion, as is Luke.

  • It was established in the Sarah Jane Adventures episode Death of the Doctor that he visited each and everyone one of his companions. He met them all between leaving Wilfred the first time and seeing Rose.
    • The question was regarding on-screen visits. However you are correct that technically speaking Wilf should actually be listed first as he visits with him (not so much Donna as she's unconscious) before going to "get his reward".