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Considering how old the Serenity system has to have been inhabited, and that was by a huge sublight coloney ship hundreds if not thousands of years prior...This would be the far future. And that is assuming the Serenity royals came from Earth in the first place. There is still the Galactic Empire out there that we've had little to no contect with in the series. All we've knowingly seen are humans or cyborgs. No known aliens (Aside form the cat monkeys that could be geneticly engineered for all we know.)
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