I don't think for a single second that the Doctor had ever been in the house but that he'd often sailed past it, admiring it from a distance. However, Laura having to deny even knowing the man which I also believe to be true (anything to the contrary would have been hinted at in the script), meant nothing to martin because he invariably chose always to follow the worst case scenario where his property (his wife in this case) was concerned.
Point of fact it's even possible that Martin DID believe that the two had never crossed paths but saw this as another opportunity to exercise his control regardless and deter her from getting any ideas of that nature - keeping her on her toes as it were.
To be honest, even if Laura had had a chance meeting on the beach with the Doctor it's highly unlikely she would have invited him in for even innocent reasons. She couldn't even leave a towel hanging out of alignment to the rest in the bathroom or indeed leave a can of food out of alignment in the cupboard without Martin noticing. Look how thorough she was when she returned to the house after feigning her drowning - carefully backtracking her every step and mopping up water after herself.
"Has anyone seen my wife?" - Columbo
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