Erimem

Erimemushinteperem, or Erimem for short, was a princess from ancient Egypt, who, after travelling in the TARDIS with the fifth Doctor and Peri, became the Queen of Peladon by marrying King Pelleas.

Biography
Erimem was born in 1419 BC to Pharaoh Amenhotep II of Egypt. She would have taken over the throne upon her father's death, but there was controversy about the throne passing to a woman. It was in the midst of this intrigue that the Doctor and Peri arrived. The Doctor realised that historical records indicated that Amenhotep was succeeded by Thutmose IV, and feared that Erimem would die in a revolution to prevent her from becoming Pharaoh. However, Erimem survived, and realising that she was not destined to rule Egypt, decided to leave for Greece to study and learn. The Doctor offered her to learn far further a field. (BFA: The Eye of the Scorpion)

Throughout her travels with the Doctor and Peri, whilst learning as she did, she also sought out causes and crusades to throw herself into. (BFA: The Council of Nicaea)

She was also very much the leader, leading Crown and Church forces against the English in France (BFA: The Church and the Crown)

She seemed to truly desire to rule or be close to ruling over a group of people. She attempted this with Prince Vlad III, staying with him throughout much of his later campaign. (BFA: Son of the Dragon)

It was the Doctor who got to see many of her desires first hand in an induced fantasy world created by the plants of YT45, where in the fantasy she was ruler of 'New Cairo' an amalgam of many of the colony worlds she had visited with the Doctor and her original home in Egypt. (BFA: The Mind's Eye)

After encountering Sekhmet one of the last Osirians whilst on Peladon, she accepted a marriage proposal from the King of Peladon and departed Peri and the Doctor explaining that it had always been her destiny to rule. (BFA: The Bride of Peladon)

The Doctor may have visited Erimem before regenerating into his eleventh incarnation as the Eleventh Doctor mentioned that he had visited all of them, which, presumably, included Erimem.