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So I have set my tardis perms to companions and added someone and checked they're in companions and they can't use the door or controls.
Check you've done the correct commands
/tardis-perms companions (you actually type companions not their username)
/tardis-companions add Username
It doesn't work for me either and i did the correct commands and it said they were added
Are you trying to add multiple people? If so then you need to do /tardis-perms companions each time after you add a new player.