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**** Watch the episode of Herculaes again. The people of Arcadia also call her princess before Hercules even speaks to them. It's clear her title preceeded her and Hercules just asked around off screen about her when traveling to her location.
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** Hercules wasn't the only one calling her a Warrior Princess in that episode. Other people were as well without a connection to Herc. It's clear it was a name she had already.
