Yes, Earth does exist within the overarching lore of Isaac Asimov's expanded Foundation universe, though its exact location has become a forgotten myth to the citizens of the Galactic Empire, who view it merely as a primitive cradle world of legend. In the later novels of the series, particularly Foundation and Earth, protagonists Golan Trevize and Janov Pelorat actively search across the galaxy to find the lost original home planet of humanity.
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