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As far as the tv show goes, the companion he has had the strongest attachment too emotionally was Amy Pond, however, he did fall in love with one named Rose Tyler.
But the one he traveled with the most was Sarah Jones Smith, who not only was the longest companion (based on episode appearances) but she was also the only (so far) classic who companion to go on an adventure with the Doctor in the New Doctor Who. The Doctor also even gave Sarah the K-9 Unit. There has also been a spin off show called the Sarah Smith Adventures.
So arguably it has always been these three names that come up when a question like this is asked.
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