There were at least 2 separate and independent TV series, but I highly recommend going to the original: the 2 later novels from Douglas Adams, after he wrote the Hitchhiker's Guide to the Galaxy.

https://en.wikipedia.org/wiki/Dirk_Gently%27s_Holistic_Detec...

https://en.wikipedia.org/wiki/The_Long_Dark_Tea-Time_of_the_...

In the novels, a stuck sofa is revealed to have got there because a retired Time Lord, Professor Urban Chronotis, briefly materialised his TARDIS in such a place it provided a doorway. So the books are extremely loosely tied into the Dr Who universe.

Don't let this put you off.

The DG novel was partly based on the Doctor Who story where there were six copies of the Mona Lisa, and the bad guy wanted to go back to primitive Earth before multicellular life.

"The atmosphere is poisonous. I'm not sure what's in it but it would certainly get your carpets nice and clean."