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A long time prior to 3999, the Wirrn attacked many worlds in the Andromeda Galaxy, including the Phylox system, Coscos, Salostopus, Golos and Vysp. They departed for the nearest galaxy, but returned home after their invasion attempt there failed. (PROSE: Placebo Effect)
Humans reached the Andromeda Galaxy by the time of Space Station Nerva's conversion into a space ark. They soon came into conflict with the Wirrn, whose breeding colonies were destroyed by human colonists. After a thousand years of fighting, the Wirrn were driven from the Galaxy. They came to call Andromeda "the old lands". (TV: The Ark in Space)
A hundred million years after humans visited the Andromeda Galaxy, the First Doctor's TARDIS landed in a planetoid-sized ship and an armada of smaller ships, travelling slower than the speed of light headed for Mutter's Spiral in order to conquer it. The ship contained the One, made up of millions of Andromedan minds, life forms from the Andromeda Galaxy and Aalas, the android servants of the One. (PROSE: Doctor Who and the Invasion from Space)
At some point, there were high tensions between the organic and mechanical lifeforms in the Andromeda Galaxy, exemplified by the rise of the Cult of Shining Darkness. Andromeda was home to Humanoids as well as several nonhumanoid forms. The Doctor considered his knowledge of Andromeda to be spotty. (PROSE: Shining Darkness)