Although it gets off to a good start, Androids of Tara just never really comes together. The story is tried and tested - no originality here. It's just a typical person X wants to become king, but person Y is already king, and so hatch a giant, convoluted plot to make person X king. Romana spends most of the time either captured, or reciting her lines often consisting of silly questions, or "explain the plot to the audience" comments.
To be fair, theres some well played out scenes, and some good one-liners by Tom Baker. Humour is there, and you get the impression the story isn't taking itself too seriously. The problem is, by the start of Episode 3, you'll probably wish it was all over.
Two and a half stars for Androids of Tara.