The only way Sean Maguire could leave the show, and Regina still get her happy ending with Robin Hood is if Adam and Eddy miraculously plan to have Robin’s soul/spirit transferred into another body….even still the sting will be there that we lose the original Robin Hood, who we have grown used to. Then again, we’ve seen Roland and Little John leaving, so the chances of that happening is low.
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"If you go as far as you can see...you will then see enough to go even further." - Finn Balor