Wilf is my favorite companion in the 21st Century Doctor Who.
The Brigadier counts, he traveled in the Tardis (in the 5 Doctors, I think).
He didn't travel in the TARDIS in The Five Doctors(except right at the end when he went home with the 2nd Doctor), though he did a few stories earlier in Mawdryn Undead. However, though he fulfilled a companion role in this particular story, I wouldn't classify him as a companion as he didn't travel regularly with The Doctor and I prefer his status as an ally rather than a companion.
Comments
He didn't travel in the TARDIS in The Five Doctors(except right at the end when he went home with the 2nd Doctor), though he did a few stories earlier in Mawdryn Undead. However, though he fulfilled a companion role in this particular story, I wouldn't classify him as a companion as he didn't travel regularly with The Doctor and I prefer his status as an ally rather than a companion.