Lmao read the Book of Sorrows.
It happened.
The Vex tried their best, but the Hive still stepped all over their shit.
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Well, while you are right, their encounter was the first time the Vex left their own dimension. When Crota cut a hole in space it was the first time they encountered an opposing force. The Vex didn't really understand conquering by force because they already ruled their own space. The Hive defeating them and kidnapping Quiria is what made the Vex adopt Sword Logic. I think if they met again the outcome would be a bit different.