So my theory is that in the titans trailer we see Robin say to raven we are going to see some old friends which is more than likely dove and hawk now beast boy may either live with them or know them so I think that is how Robin meets beast boy or the old friends could be beast boy but I do thing that it’s dove and hawk that he is taking about due to him talking to dove in the trailers another thing is we are supposed to see all of the titans get there new suits so I think that at the end of the season one Bruce will be gifted the titans tower and the new suits after they beat brother blood or whoever is the main villian of the first season because Bruce sees that they can do good for Detroit and jump city.
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Oh and I think that they are going to have starfire be sheltered with hawk and dove or beast boy and that’s how they meet starfire
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