In the mandalorian season 2 we saw Luke Skywalker return like the jedi we knew him to be from return of the jedi. Along with him came R2D2, who gazed upon Grogu, and after a short moment, looked happy. To me and a lot of fans it seemed like he recognized grogu. I think he actually did. I believe he knew of Grogu, or knew him personally. As Ahsoka Tano mentioned, Grogu was trained at the jedi temple for years by many jedi masters until the end of the Clone Wars (Order 66).

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