Yes, Rose returns from the parallel world at the end of episode 12, at the end of episode 13 The Doctor returns her and clone Doctor to her world to live their lives together.
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Season 3, episode 2, "The Shakespeare Code".
November 1991
Season 8 Episode 17
the first episode of season 4
Tamera meet Jordan in the episode " Two's Company" which is season 5, episode 10. Tia meet Tyreke in the episode " Popular Mechanic" whic is season 5, episode 8.