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In Twilight Princess, Ganondorf mentions that he was exiled into the Twilight Realm by the Sages through order of the king. At the end of Ocarina of Time, Link tells Zelda about Ganondorf through instruction of her future/alternate self. The link is Zelda tells her father (the King) and he commands the exile of Ganondorf by the Sages. So the answer is a big fat Y-E-S!

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