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it's a fukcing glitch ffs, keep playing till the majin 21 quest line is completed and when she is added to the harem click on her on the room options it'll take you too lazuli, and you gotta reset the prisoner progress and go to sleep straight then summon prisoner for videl, then go to sleep again to continue the quest

Click on the Picture of Android 21 it takes you to 18 if she is staying with you.