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Sorta. The 20th Anniversary story "The Five Doctors" had Sarah Jane and the Third Doctor together, and the Fourth Doctor appeared thanks to a scene from the unfinished story "Shada". But if you mean did the three of them ever appear together, then no, I'm afraid not.

One could suggest the regeneration scene of the Third Doctor becoming the Fourth at the end of "Planet of the Spiders" and the very beginning of "Robot" where Sarah Jane witnessed the regeneration might count as all three appearing together.

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