It went pretty much as you'd have expected from the promos and/or setting; I liked the roles, actions, and re-actions of the companions (the Sheffield Gang?), and the way in which, when all was said and done, the Doctor and they weren't the protagonists, just the helpers.
ETA: After rewatching the episode, I think that last part was *really* well done. Rosa Parks doesn't have the camera's focus, but she has the action's focus, if that makes sense. Her action, her story, her agency. It's not a Rosencrantz and Guildenstern Are Dead situation, but they avoided one of the worst ways in which the episode could have gone, the retcon (and worst of all, the Doctor-did-it retcon).
I might be prejudiced because of my issues with late Moffat, but I think this is shaping up as a great season.