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Jamie McCrimmon, who travelled with the Second Doctor for 113 episodes, from "The Highlanders" to "The War Games"(1966-1969), as well as the 3 episodes of "The Two Doctors"(1985) and a cameo in "The Five Doctors" (1983, though this technically is not the real Jamie). However, since the revelations of "The Doctor's Wife", the TARDIS is now seen as a sentient individual; the TARDIS does not appear in every single episode, but with a handful of exceptions (i.e. "Mission to the Unknown", "Midnight") has appeared at least once in every story broadcast since 1963.