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In an alternate timeline in which the Earth was devastated by a nuclear war started by the experiments of Theodore Cassells, the camels, alongside some humans which derived on the Mutes, evolved on a six-legged species. These were mounted by the Mutes.
A single Mute rider chased the Third Doctor when he arrived in the alternate Earth, but was knocked by a metal piece thrown by Brod. The camel remained with its unconscious rider.
The camels presumably were erased from the timeline when history was restored. (COMIC: A Stitch in Time)