I'd argue that SJA works much better as an adult drama than Torchwood ever has.
Whilst Torchwood makes too much of the fact it can (and does) have bonking and swearing, SJA instead has had cracking character pieces like "Whatever Happened to Sarah Jane" and "The Temptation of Sarah Jane", helped immesaurably by Liz Sladen's performance, and some cracking acting support from Tommy Knight (Who could have been an uber-Welsey, but manages to avoid it) and Daniel Anthony. As such it comes across as a far more mature and assured show.