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@SonKamiKage Good point. It would either have to be reincarnation or him just showing up. But I can imagine it now.
Madara: So you guys have the power to blow up universes, fly, transform, and get stronger with near death?!
Goku: Yep! All thanks to my training, and of course, my saiyan DNA.
Madara:...Hashirama cells ain't boutta have shit on this.
Goku: What?
Madara: Goku, can you spit in this cup for me?
Goku: Why?
Madara: If you do, then by tomorrow, you'll have a super strong opponent to fight.
Goku: Bet *spits in cup*
Madara: See you later. *leaves*
Madara: ...Alright, time to become a Super Saiyan.