We did get a crossover once already, back when they owned the rights to both franchises IDW did a Trek/Who crossover with the 11th Doctor, Amy, and Rory and the TNG TV era crew teaming up to fight a team up of the Borg and Cybermen. One of the covers showed the 4th Doctor and the TOS crew fighting 60s or 70s era Cybermen, so it might have also had that as a flashback of some kind.
https://memory-alpha.fandom.com/wiki/Star_Trek:_The_Next_Generation_-_Doctor_Who:_Assimilation²
I have the first half, but I haven't read it because IDW lost the license and they pulled it off all of the digital comics retailers before I could get the second half.
But, I don't think this is going to be leading any kind of onscreen crossover, I'm sure if it were they would be making a bigger deal of teasing the announcement.
https://memory-alpha.fandom.com/wiki/Star_Trek:_The_Next_Generation_-_Doctor_Who:_Assimilation²
I have the first half, but I haven't read it because IDW lost the license and they pulled it off all of the digital comics retailers before I could get the second half.
But, I don't think this is going to be leading any kind of onscreen crossover, I'm sure if it were they would be making a bigger deal of teasing the announcement.