Hey, are you into the Peter Davison years? Because if you aren't, you need more 5th Doctor in your life.

He spends quite a while with an accumulated Tardis 'family' who spend a lot of time bickering. Some (most?) are aliens. One is a tragically underused robot, because the prop didn't really work. Two are boys/men.

Also, Tom Baker (later series) is pretty good for that, but not such a large crew at the same time.