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He would typically be found in television series such as Adam Adamant Lives!, The Avengers, Paul Temple, Police Surgeon, Public Eye, The Saint, Softly, Softly, Special Branch, The Third Man and Z-Cars.
His other television credits include Compact (1962), Paul Temple (1970-1971), Z-Cars (1971-1978), Poldark (1975), The Onedin Line (1977), All Creatures Great and Small (1978-1980), Juliet Bravo (1980), Dramarama (1983) and other science fiction series', Out of the Unknown (1965), Moonbase 3 (1973) and The Tripods (1984).
He was also a member of the BBC Radio company during the late 1950s/early 1960s, and notably guest-starred in all but two of the Paul Temple serials (mysteries) that starred Peter Coke and Marjorie Westbury.
There appears to have been some disagreement between the BBC and Taurus over the casting of Steve Temple (who had been played in the radio series of Paul Temple from 1945-68 by Marjorie Westbury), the BBC wishing to drop Drinkwater, but Taurus favouring her retention.