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Description
Invincible vs Steven Universe

Sent to Earth to conquer but found love and passion instead, two alien parents duke it out!

Connections:

Both are otherworldly warriors whose species (Viltrumites and Gems respectively) served their superiors (Viltrumite Empire for Omni-Man and Diamond Authority for Pink Diamond) bent on conquering planets and had been waging wars for years

Both arrived on Earth where they met a human (Debbie Grayson and Greg Universe respectively), married and had a son (Mark Grayson and Steven Universe respectively)

Both also disguised their true identities from others (Nolan took the name Omni-Man and became a hero, whereas Pink Diamond transformed into Rose Quartz)

Both had a shady past which was eventually revealed to their children (Omni-Man claimed Viltrumite is a peaceful world but is actually an empire where they sent soldiers like him to infiltrate worlds and prepared them for an invasion. Meanwhile, Steven found out his mother Rose is actually Pink Diamond who's part of the planet conquering Diamond Authority)

Both eventually defied their superiors and rebelled

Description
Invincible vs Steven Universe

Sent to Earth to conquer but found love and passion instead, two alien parents duke it out!

Connections:

Both are otherworldly warriors whose species (Viltrumites and Gems respectively) served their superiors (Viltrumite Empire for Omni-Man and Diamond Authority for Pink Diamond) bent on conquering planets and had been waging wars for years

Both arrived on Earth where they met a human (Debbie Grayson and Greg Universe respectively), married and had a son (Mark Grayson and Steven Universe respectively)

Both also disguised their true identities from others (Nolan took the name Omni-Man and became a hero, whereas Pink Diamond transformed into Rose Quartz)

Both had a shady past which was eventually revealed to their children (Omni-Man claimed Viltrumite is a peaceful world but is actually an empire where they sent soldiers like him to infiltrate worlds and prepared them for an invasion. Meanwhile, Steven found out his mother Rose is actually Pink Diamond who's part of the planet conquering Diamond Authority)

Both eventually defied their superiors and rebelled