I thought it was stated towa and mira in kakarot were from after xv2, and that heroes is a separate thing
Also they have a cameo mission in Fusions, the 3ds game, which may or may not be canon to xv1, kakarot, and every other game they appear in
Well some games are just fighters that vaguely retell the story while others are original stories expanding on the series, or in Kakarots case practically it's own unique adaptation of the source material that's actually connected to Xenoverse and Online through 2 characters called Mira and Towa
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The original anime has multiple paths it’s gone on…
And whatever that is in the middle…
Kakarot actually has Mira as a superboss and explains his resurrection between the two Xenoverse games lol
Also they have a cameo mission in Fusions, the 3ds game, which may or may not be canon to xv1, kakarot, and every other game they appear in
I just like to think of all the games with those 2 in them are their own continuity