I think it depends on what you want to do with a show. Something like The Wire is going for verisimilitude and authenticity, a mature and realistic story. There, you absolutely want consistency. Same with, say the Expanse in the realm of SF, which has gone to great lengths to make sure everything looks and feels right.
But Doctor Who is a family adventure show. Its' priority is telling an exciting story 12 or 13 weeks out of the year that's accessible for kids and adults both. It's more important that there's a door that can't be opened, and there's some minor explanation for why the Doctor can't open it, than to make sure that he's never opened the exact same sort of door with the objects he's had to hand in prior episodes.