The answer to this question is, unfortunately, a No: There is no way for Xu Shu to stay with Liu Bei in Dynasty Warriors Origins. No matter what the player does in Liu Bei’s story route, Xu Shu will eventually leave his side and join Cao Cao.
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When Koei Tecmo first added Xu Shu in Dynasty Warriors 7 Empires, it placed him in affiliation with Liu Bei and his Shu Kingdom.
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Dynasty Warriors 8 and 9 featured hypothetical scenarios where Xu Shu managed to stay with Liu Bei, so long-time series players may wonder whether a similar scenario exists in Dynasty Warriors Origins or not.
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However, the strategist historically only assisted Liu Bei for a brief period before he was forced to serve under Cao Cao and his eventual Wei Kingdom.