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No, Peter Firth never appeared on Doctor Who.
No. According to IMDB, Peter Graves never guest starred on Gunsmoke.
Last Monochrome episodeSeason 6 finished 21 June 1969 in B&W with the third "Wargames" episode and ended Patrick Troughton's tenure as the second doctor. SaveFirst Colour EpisodeSeason 7 episode 1 called "Spearhead From Space" aired 3 Jan 1970. Starring John Pertwee as the doctor, it was the first Dr. Who episode in colour.
They were doctors Bro
Season 5|Episode 10 Peter's Two Dads