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Bungie referenced Destiny in Halo 3:ODST at the beginning of the mission Coastal Highway. A sign at the Beginning of the mission reads "Destiny Awaits." ODST was released 2009, and Destiny was announced nearly 3 years later In November 2012.
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In Kikowani Station, you can find an animated gif of Martin O'Donnell dancing. Martin O'Donnell is a music composer who had worked on various games in the Halo franchise.
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