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There seem to be multiple inhabited planets in the galaxy with Humans on them. No aliens that we are aware of yet.
Gruier is from the Serenity System. Marika is from Tau Ceti. Chiaki...not sure. Since her father's ship is one of the original seven, she is also likely from Tau Ceti, and just goes to another "local" school, since Marika's high school is no where big enough to teach everyone on the planet.
Earth is someplace out there still.
FTL drives basically means interstellar travel. How fast or slow is up to the writters. But there is a Galactic Empire.
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