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Gender was a set of social groups used by humans to define themselves. Humans had certain stereotypes associated with at least some genders. (TV: World Enough and Time)
Examples of genders included male, female (TV: Extremis), exposition, and comic relief (TV: World Enough and Time), although it was a "spectrum" and there were many more. (PROSE: Island of Death)
Time Lords had moved beyond human concepts of gender by the time the Doctor was a child. (TV: World Enough and Time)