I may just be biased towards anything from the Whittaker era but this was a fantastic origin story for the Lupari. 4 was obviously great and Leela was in her element especially around the more tribal and violent Lupari, but it was K9 who stood out. He had some wonderful comedic lines and probably the most dialogue and action I've ever seen from the little guy which I loved. The establishment of the relationship between the Lupari and humans was also great, I wish it had been a stronger theme throughout as I think too much focus was given to Kira and her ideas of honour but it was all nicely tied in with the soothsayer at the end.