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The sontarans first appearance was in "The Time Warrior", with Jon Pertwee, in 1973. They then appeared twice in the 1970s, in "The Sontaran Experiment" in 1975, and "The Invasion of Time" in 1978, both with Tom Baker. Their last appearance in the classic series was in "The Two Doctors" in 1985, with Colin Baker and Patrick Troughton. Yes, they are very well known to the Doctor.