Revenge of the Cybermen - S12-E5
Revealing mistake: At the climax of episode four, the Beacon plunges close to Voga and orbits very fast before the Doctor manages to break free. The planetscape that appears on the screen is quite obviously a revolving drum with bits of clay on it.
Answer: TARDISes are generally available for properly authorised use on Gallifrey; they're not usually assigned to a particular Timelord on a long-term basis. The Doctor stole his when he left his homeworld.
Tailkinker ★