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The prologue hints that they were, from the beginning, star-crossed lovers. Could they have prevented their deaths? That question is open to speculation - could they have acted more slowly as Juliet declares they should in the balcony scene? Of course, they could have done that, but they seem fated to end up together whether in death or in life. This is, after all, a tragedy based on an older story, so Shakespeare could hardly change the ending.