This episode of Futurama https://www.tvmaze.com/episodes/3691310/futurama-14x09-a-new-new-york-yankee-in-king-elfos-court has crossover characters from Disenchantment https://www.tvmaze.com/shows/30715/disenchantment .
I'm not sure how to pick characters from one series in another so they don't show up seperate, but as the same ones?







