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As observed by the Third Doctor, human interstellar travel within the Milky Way galaxy was "pretty routine" by the 26th century. (TV: Frontier in Space)
While on 13th century Earth, Jingo Linx realised that Irongron had no understanding of the forces involved in interstellar travel. (TV: The Time Warrior)
The Fifth Doctor noted that the rocket pads of a spacecraft were too small for interstellar travel, reasoning that it came from Androzani Minor. (TV: The Caves of Androzani)
The Twelfth Doctor found that a sea creature produced fuel suitable for interstellar travel. (TV: Thin Ice)