The actress, who broke new ground for the show as the first ever female Doctor, played the time traveller from 2018 to 2022, with her episodes being helmed by then-showrunner Chris Chibnall.
"But obviously, when your voice is the entire thing, I realised how many times I mispronounce words, I trip over sounds."
Laughing with co-star Mandip Gill, who plays Yazmin Khan, she added to Big Finish: "I basically pitched the Doctor too quick but I did it in my very first episode and I've regretted it ever since!"
There, she had a brief interaction with Gatwa's Fifteenth Doctor, which acknowledged a noticeable change in demeanour between their two incarnations of the Time Lord.
Speaking in Doctor Who Magazine, showrunner Russell T Davies reflected on Whittaker's return and said: "It was a major delight to work with the great and mighty Jodie.
He continued: "But you know what I mean. There was a missing link between them, which this episode forged together."
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