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There are a whole host of ways in which the writers justify this, but realistically it's the only time period they can write for a companion character. There's already enough inconsistency between episodes as to what it means to be a 21st Century girl.
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Why must a companion be from the 21st century? Why must they even be human (as compared to human-shaped)? There have been many interesting, relatable secondary characters from all races and time-periods over the last seven years. And bear in mind that the classic series had a much wider range of companion over the years.