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There was something a while back (no idea how true it is) that McCoy would stay on into Season 27 had the show not been canceled, though Sophie Aldred would have been replaced halfway through the season after he contract ran out, apparently with a character who was a " female safecracker whom the Doctor would have taken under his wing, with her gangster father as a recurring character." This was taken from interviews made afterwards with the principal members of production - the only thing said about replacing McCoy was that one of the actors in the forefront was Richard Griffiths, who had been considered for the Fifth Doctor.
So that pretty much for definite says that McCoy would have done more that three seasons if he could have - it's the only evidence there probably ever will be either way on the subject.
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