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For the last 3 episodes of TCW, Yoda learns the secrets to immortality, and, when he returns, he says that he has seen a way for the Jedi to win, not just the Clone Wars, but for all time.

My main question is in the title. To further clarify the question, I'm wondering if Yoda had actually seen into the future of Anakin, Luke, and Leia. Also, could Yoda have stopped Anakin's fall and, thus, the fall of the Jedi Order?

Did you take TWC as canon for this????? Wao.. You should look at episode III you wil get more canon information...

I think Yoda knew, but he didn't ant to directly intervene. I think the Jedi had already fallen and Yoda suspected that, too.