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Xenosaga 1 actually had more than just the original PS2 and DS (I&II) versions. In 2003, Namco published Xenosaga Reloaded, with new costumes and features. It also uses English audio. It appears to be an early dub, as some terminology is different from the final American release.
In Xenogears, Lucca from Chrono Trigger can be found as an NPC in Lahan Village.
[Submission: @ShimoSpark]
In Xenogears' Solaris area, a poster featuring Tifa from Final Fantasy VII can be seen. This is potentially in reference to the fact that Xenogears was originally a pitch for FF7.
In a similar vein, Xenogears is name-dropped in FF7.
> Run Conduit.exe
> Initiating Start Sequence...
> Booting Account...
> Program Online
Welcome to "Files from the Zohar!" A daily Xeno Series trivia account run by myself, @RogeTranslating. I have Japanese translation experience as well as a passion for all things Xeno.