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In the T.V. Show no.

In the manga: YES

There is a story written in the manga about when Future Trunks fights buu.

(They also made it into a psp game Dragonball Z shin Budokai another road)

Spoiler:Trunks goes back in time again(right after buu was defeated by the Z fighters) and brings them to his future to help him fight buu. The kais also suggest to Trunk to go to the other world and recruit some fighters. While in the other world Trunks and recruits Bardock Gohan and Picon. When he takes them to the Z fighters Goku finally meets his father.

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12y ago
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Q: Does goku ever meet bardock in other world?
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