It's something of a mixed bag. Character Options has yet to release any companions from the Hartnell and Troughton years.
Pertwee's era finally has two versions of Jo Grant and three of the Brigadier. But there's no Liz Shaw, nor a "classic era" (read: young) Sarah Jane Smith. Of course, she's argueably more associated with Tom Baker, but the point is, a young version of her has not been released. (On the other hand, five different "contemporary" version of Liz Sladen's beloved character were made, one as she was dressed in DW's "School Reunion" and four variants from her own series "The Sarah Jane Adventures". But fans still want a 70s version of Sarah.)
Representing Tom Baker's reign, yes, we got three editions of Leela, but there's no Romana yet, neither Mary Tamm nor Lalla Ward's features.
Bridging the Baker and Davision years, there's no Adric, Nyssa or Teegan figures. Turough doesn't exist either.
Bridging Davison's and Colin's series, we have gotten Peri in three outfits. (Why the variants? Beyond thrilling fan collectors, it actually helps to defer the cost of development. Yes, some new pieces have to be made, but other parts, particularly the faces can be reused.)
Bridging the Colin and McCoy series, Mel has yet to be made. (I can imagine the jokes, gang. Let's sidestep those for the moment.) Still, closing out the classic era, we have gotten two editions of Ace.
Supposedly, prototypes of Jamie (the young Scotsman from Troughton's era) and Teegan have been approved by the actors who played them, but it's as yet unknown if the molds have been created (the most expensive part of the manufactoring stages), much cast in their final plastic forms.
I think that about covers it.
Sincerely,
Bill