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I was under the impression that the only thing that they couldn't remember was what happened before the Book of Darkness was corrupted, and the time periods right before the BoD was activated and while it was going berserk. They seemed to remember their past masters pretty well, its just that all of them up until Hayate treated them like tools instead of people, and they never had a chance to relax and enjoy a somewhat normal life. They've definitely had plenty of time to observe combat, politics (no doubt that they've been acquired by power-hungry politicians multiple times), and the darker side of people in general.
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