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Wasn't travelling to Pete's world a complete freak accident that left the TARDIS almost powerless? Though the Doctor mentioned that the pre-Time War Time Lords were perfectly capable of travelling between universes, then went all NO IT IMPOSSIBLE during the Canary Wharf debacle where that was the Daleks' fault for making cracks between the universes with the void ship. Which is also why Rose was inaccessible after that until Davros started dicking around and breaking spacetime.
I'd guess the Daleks at least have more than enough firepower to deal with the BETA. Probably the Cybermen too. And I guess the Sontarans.
BETA are pretty smalltime against spacefaring races with heavy firepower to match.
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