Sure, but wasn’t that in the sixth season or so? Hardly passing the torch if the show is a season or so from going off the air…
And if you want to go back further, NCIS was itself a spinoff of JAG, where Gibbs was a recurring character, and CDR Rabb IIRC was on a few episodes of NCIS as well.
Given R only last one film on his own, not sure that was overly successful! 
Murdoch Mysteries has done that with the coroner.
Originally Julia
Later Julia is assisted by Violet
Violet takes over and Julia leaves the job but still on the show.
Julia leaves the show (except for a couple of guest appearances)
Good example, and don’t forget Emily Grace, also brought on as Julia’s second (& eventually lead coroner). Somehow most of my favorite characters on that show are George’s love interests!
I love an Effie episode.
Yes indeed!
I have to say, I think Radar → Klinger is one of the better examples. Both were on the same show, there is footage of Radar directly teaching Klinger how to do the clerk job(radio, bargaining, signing paperwork, etc.).
Klinger became the clerk, stopped wearing dresses for the most part, and eventually learned how to clerk about as well as Radar.
And the show ran a few more years without Radar.
But, notably, in very different ways.
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Which was the right way to do it.
How about Parks and Rec passing the torch from Mark to Ben Wyatt in the straight man role? The overlap was only a few episodes, but it was a huge upgrade for the show.
The opening Scene of Fury Road’s 5 minutes of movie magic made you forget all about Mel Gibson’s trilogy.
I saw the thread, knew exactly what to post but you beat me to it. For the life of me I can’t tell first Barnaby from second Barnaby, and ALWAYS have to ask Mrs. Cretin to enlighten me.
I’d say it’s a fit for the thread. FWIW Lewis is by far our top favorite of all the Brit Detective series.
Uh, yes, but does not meet the requirements. Mel Gibson does not meet Tom Hardy.
Never been so taken by surprise by a TV series death. Cassie’s dying gobsmacked us. Not to worry- we’d already thought Bhaskar was great in his role, and he carried it on nicely.
This isn’t a fit, is it? Sunny doesn’t step in as DI, Jessie James does. Isn’t Sunny still the subordinate?
Totally agree.
MASH had three other incredibly successful torch passings: Colonel Blake to Colonel Potter, Trapper John to B.J. Hunnicutt, and Major Burns to Major Winchester, but none of them meet the OP’s requirement of being on the same show.
Also the first one was only there for one season. Hardy time for viewers to gain any familiarity with him.
Changing casts never interacted. Briggs was gone and Phelps was in. Rollin was out and Paris was in. Not even a “fare-thee-well”.