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No. The Doctor travelled with Adam Mitchell from "Dalek" to "The Long Game" (only two episodes, but he was a full companion), Jack Harkness (from "The Doctor Dances" to "The Parting of the Ways", plus later return visits), and Mickey Smith (from "School Reunion" to "The Age of Steel", plus later return visits). Rory is the first male companion since Turlough to appear across more than one consecutive season, however, and his three-season run is the longest for any male companion since Jamie McCrimmon.