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The stronger aversion to soldiers seen in the Doctor's later incarnations could be attributed to the Time War, where he became a soldier himself and did unspeakable things that led him to renounce an incarnation of himself. As for why Twelve in particular has a problem with them, it may be because, before "The Day of the Doctor", he didn't like what he became but he couldn't see an alternative...until the intervention of the Moment and Clara helped him find a better solution. Twelve may not like soldiers because, even in the hopelessness of the Time War, he found an alternative to destruction and he expects the same of those around him.