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"they would have gone from children to teens to young adults" is called a Bildungsroman, or a coming of age story. It's a classic and perfectly serviceable plot journey. Your plot is based on each ...
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#4: Attribution notice removed
Source: https://writers.stackexchange.com/a/24619 License name: CC BY-SA 3.0 License URL: https://creativecommons.org/licenses/by-sa/3.0/
#3: Attribution notice added
Source: https://writers.stackexchange.com/a/24619 License name: CC BY-SA 3.0 License URL: https://creativecommons.org/licenses/by-sa/3.0/
#2: Initial revision
"they would have gone from children to teens to young adults" is called a _Bildungsroman,_ or a [coming of age story](https://en.wikipedia.org/wiki/Bildungsroman). It's a classic and perfectly serviceable plot journey. Your plot is based on each character's development and growth. (I'm not sure how _Doctor Who_ fits into your example other than "goes on adventures.")