Sugar met the Doctor during the maiden voyage of Novalunar's Interstitial Transposition Vehicle where she was working in Executive Class. Using her knowledge of ship technology, Sugar helped the Doctor thwart an incursion of predatory pan-dimensional aliens from a parallel quantum reality. (AUDIO: The Last Voyage)
Multi-adventures reference the rare instance when a companion is shown or stated to have multiple adventures with the Doctor but only appears in a single story.
If a medium is not mentioned, then this incarnation did not have companions who were original to that medium; it does not mean that this Doctor failed to appear in that medium.