I think the best way of remaking the missing stories is like what they did with "The Invasion" DVD, using animation to represent the actors and sets while using the original soundtrack and voices. That way viewers get to hear the original actors while perhaps upgrading the sets more cost-effectively than having to re-build everything.
This would be a great way!
It is a good presentation since all the original audio still exists, so they can put the surviving live action episodes along with animation where the video doesn't exist. If they animated the missing episodes people would be able to see the visuals, maybe even better than the sets were to begin with due to the low budgets. I don't know if the BBC are planning more animated DVDs but I did send a reply card to them saying that they should continue this project!