that answers your question, Baby Groot Hug Detective Pikachu Pokemon shirt if not, i’m sorry. But all I know is that Baby Yoda is CUTE. and yeah that’s it. To be honest there is no real reason as of yet, but it would be pretty easy to assume that it saw him as a good person and wanted to be nice to him. After all he did save baby “yoda” many times and at the end of the first episode you could see him playing with baby “yoda” in his crib. Stands to reason that being so intune with the force he could sense weather or not the mandalorian was bad or good, and based off not only his actions but his tendency to be nice to good people, like the moisture farmer, he isn’t bad and has some good in him. So why not help the one guy who wants you alive?
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I doubt it, unless it’s just a blink-and-Baby Groot Hug Detective Pikachu Pokemon shirt you’ll-miss-it reference in the background that could easily be CGI’d in. Having him appear as a character in the story would mean that before production started on Rise of Skywalker about 3 years ago (or at least by August of 2017 when Jack Thorne rewrote the script), the baby Yoda character was already fully conceived by the showrunner for The Mandalorian. I doubt the character was sufficiently fleshed out to the point where the people working on the script for Rise could work baby Yoda into their story as a character. The story for Rise was in place by September 2017 at the latest, and only half the scripts for The Mandalorian.