TARDIS

Flying
Whenever this Vehicle attacks, if you control a Time Lord, the next spell you cast this turn has cascade and you may planeswalk.
Crew 2 (Tap any number of creatures you control with total power 2 or more: This Vehicle becomes an artifact creature until end of turn.)

The First Doctor

When The First Doctor enters, search your library and/or graveyard for a card named TARDIS, reveal it, and put it into your hand. If you search your library this way, shuffle.
Whenever you cast a spell with cascade, put a +1/+1 counter on target artifact or creature.

Rory Williams

Partner with Amy Pond
First strike, lifelink
The Last Centurion — When you cast this spell from anywhere other than exile, exile it with three time counters on it. It gains suspend. Then investigate. (Create a Clue token. It's an artifact with "{2}, Sacrifice this token: Draw a card.")

Amy Pond

Partner with Rory Williams (When this creature enters, target player may put Rory into their hand from their library, then shuffle.)
Whenever Amy Pond deals combat damage to a player, choose a suspended card you own and remove that many time counters from it.
Doctor's companion (You can have two commanders if the other is the Doctor.)