he's not leaving them behind from his adventures. but hen I don't remember them visiting henry the 8th, so we're not seeing everything. The Doctor is "most probably" giving them a breather, but what's he doing? 10 months go buy for them, but maybe only a couple hours, a few minutes, seconds for the Timelord as he reads a book in the bathtub... He's still 12 hundred, so it's not like it seems that centuries are still passing between visits.