The Fifth Doctor Box Set

 was a full cast audio anthology released in 2014 by Big Finish Productions. It featured Peter Davison as the Fifth Doctor, Janet Fielding as Tegan Jovanka, and Sarah Sutton as Nyssa and staring Matthew Waterhouse as Adric for the first time since 1982.

Publisher's summary
 to be added 

Stories

 * Psychodrome
 * Iterations of I