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If I recall correctly, Utawarerumono ends with Hakuoro defeating the evil deity and re-sealing it along with himself.
Haku doesn't seem like him at all, aside from his physique...and reincarnations aren't really something that were ever referenced in the story.
When Hakuoro was possessed by the deity in ancient times, he was used for all kinds of genetic engineering stuff, so Haku could be like a clone of him that was put on ice for some reason. Though at the same time his intelligence and social skills are proof that he lived normally at some point in the past, memories or no. I'm sure that mystery will be gradually brought to light in this series.
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