Wikipedia says when the book "The Restaurant at the End of the Universe" was put together,
The book was adapted from the remaining material in the radio
series—covering from the fifth episode to the twelfth episode,
although the ordering was greatly changed (in particular, the events
of Fit the Sixth, with Ford and Arthur being stranded on pre-historic
Earth, end the book, and their rescue in Fit the Seventh is deleted)
The next book, "Life, The Universe, and Everything" was not based on previously broadcast material, and picks up with Our Heroes still stranded on Earth. The third radio series was an adaptation of the book, and follows that chronology.
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