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A coachman was a driver of carriages or stagecoaches. This occuapation existed on Earth from around the 12th to the 19th century.
Usually, rich families rode in carriages driven by coachmen. Mr and Mrs Fanshawe were one such family, and travelled by means of a coachman on at least one occasion in 1651. (TV: The Woman Who Lived) Wealthy individuals, such as Charles Dickens, were also known to have their own coachmen. (TV: The Unquiet Dead) The Victorian detective Madame Vastra employed a coachman, though her butler Strax would often fill the role of driver in his place. (TV: A Good Man Goes to War, Deep Breath)