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I certainly can't see Pertwee's Doctor in anything like The Massacre or Marco Polo, nor any of those that followed.
I agree it's hard to imagine. And I certainly think that they could never have gone back to doing every other story as a historical. What is sad though is that in the 45 years following, we've only had one pure historical story on TV (unless you count Tooth and Claw as being an accurate and verifiable historic event). Even then there was an alien-like monster trapped in the attic.