I don't know much about Troughton/Hartnell, but, Pertwee had an arc running through his entire run, Being exiled on Earth, trying to get his TARDIS running, UNIT, and being sent on missions by the Time Lords, and the Master being in about half of the stories. This led directly into Tom Baker's first series, which had all it's stories continuing exactly where the previous one left off, and all connected to Ark in Space story, still included UNIT, and still included the Time Lords sending him on Missions. Then you had the Key To Time Arc, the E-Space Trilogy, which led directly into Keeper of Trakken/Logopolis/Castrovalva Arc. And of course, Colin Baker's Trial of a Timelord Final Season.
McCoy's entire run seemed to be building up to something big, but, it never got there, maybe because of the cancellation.
There are connections, but calling them "arcs" is generally overselling it. Pertwee being exiled isn't an arc, it's just the status quo of the show for a few years, a bit of background they mention now and again. The Master is a recurring antagonist, but there's hardly a story arc; indeed, he has a new plan every five minutes. And stories leading into each other does not an arc make;
Revenge of the Cybermen might be set in the same location as
The Ark in Space, but there's no story elements running through.
The closest the old show got to arc were the Key to Time, E-Space, and the Black Guardian trilogy, and even they were pretty slim; the stories stand alone quite well.