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Before returning to Torchwood Three, Captain Jack Harkness gave a salute which was acknowledged by the Tenth Doctor. (TV: Last of the Time Lords)
The Tenth Doctor loathed receiving salutes from UNIT personnel such as Colonel Alan Mace and Captain Marion Price. However, he did approve Donna Noble's request for a salute. (TV: The Sontaran Stratagem/The Poison Sky)
Captain Jack gave a salute to Sarah Jane Smith when he met her in person for the first time aboard the Crucible. (TV: Journey's End)
In Nazi Germany, salutes were performed by raising one's hand and exclaiming "Heil!" In 1938, Rory Williams performed the salute to distract a Nazi guard, who returned the salute before Rory punched him in the face, allowing himself and Amy Pond to flee. Unbeknownst to them, this guard was actually the Teselecta in disguise. (TV: Let's Kill Hitler)
After being to Trafalgar Square, the Eleventh Doctor saluted Kate Stewart and her UNIT team, which included Petronella Osgood, when he heard someone call for forces to stand at attention. He immediately asked "why am I saluting?" (TV: The Day of the Doctor)
When Danny Pink compared the Twelfth Doctor to a military officer, he mockingly saluted the Time Lord. (TV: The Caretaker)
Aboard Boat One, the Twelfth Doctor was saluted by Colonel Ahmed. He promptly asked him to stop it, claiming that it made him look like he was self-concussing, which he observed would explain all of military history. As President of Earth, the Doctor found that people kept saluting him, but insisted that he was never going to salute back. Kate Stewart noted that it was her father's big ambition to get the Doctor to salute him just once, to which the Doctor said that he should have asked. Soon after, when the Brigadier appeared in the form of a Cybermen who shot Missy and saved Kate, the Doctor gave him the salute he wished for. (TV: Death in Heaven)