I've been learning little bits and pieces of the mythology revolving around King Minos' rule and when you put it together like that, it does make it sound so much worse.
I need to do more reading on Androgeos' story, I don't believe I've ever heard of Androgeos before this game. I also didn't know that the bull that sire Asterion is also part of Heracles' feats. Did Asterion ever have any interaction with that bull in life?
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He saw the bull. Maybe even saw it many times, simply because it didn't live far from the palace, seeing how prized it was. But it was just a regular bull in intellect, and never could have recognized Asterion.
Asterion may have seen the bull often, but may never have gotten close enough to touch it.