The pair are currently filming for sci-fi show's 60th anniversary, which it will celebrate in 2023.
Tennant and Tate's involvement means they will be reunited with returning Doctor Who head writer Russell T Davies.
It's not clear at this stage whether this return will be a similar one, with Tennant and Tate appearing alongside Gatwa. The 13-episode run also enjoyed a high degree of critical acclaim, and was nominated for best drama at that year's Bafta TV Awards.
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