During most of his seasons, RTD would do a story or two which was an adaption of a Who story from other media - books, CDs or annuals - often producing some of the better stories.
I totally agree with you Leigh that the comic adventures we got in 80/81 were better than the telly ones - in fact I'd suggest, with the odd exception, that the magazine tales were better from then right up to the demise of the classic series. I always thought some of the comics would have been great tales to expand - especially the ones by Mills/Wagner, Parkhouse or Morrison.
Beep the Meep has got the potential to be a great tv character: the anti-baby-Yoda. If I have any reservations about the transition it's that Beep doesn't look round enough (too humanoid) in the blurry photos and that alien invasions on the streets of contemporary London got overdone and then some under RTD.
I'd also second the call for Frobisher and Dogbolt. Perhaps we could have one episode set in the comic universe so we can get all of them: Frobisher, Dogbolt, Abslom Daak. Professor Asimov.