I've always considered all three playable races the full spectrum of what the Destinyverse considers humanity, however the more I think on it this morning, it doesnt really make a lot of sense to consider guardians human.
All three playable races have their roots embedded in what I will call humanity. Humanity being the human race that was blessed by the traveler and brought about the Golden Age. Now, as well as I can remember, Exos havent exactly been activated or what have you by the time of the Collapse so I think its safe to say that prior to the Collapse, Ada-1 is the only non-human to consider as a member of humanity. The awoken havent been created in their pocket dimension during the decimation of the colony ships so there's only the one race.
Now, guardians are all resurrected versions of the previous three races, and with their memories mostly wiped, they come into being as tools of the traveler, in an optimistic perspective, to defend humanity. Not even necessarily themselves, but humanity. Guardians are paracasual in nature like the traveler and the pyramids, and not to mention borderline immortal, so can we really consider them apart of humanity?
To counter myself, Guardians all seem to possess the things I personally affiliate with humanity. These are emotions, regrets, dreams, and the capacity to take their lives into their own hands. If that's all that is required to be a member of humanity, then where exactly do we draw the line? Do we draw a line? Take the fallen for example. They are all capable of the same aspects of humanity I previously described but they aren't human. They don't come from Earth so is that what makes humans humans? Our Physical origin in the galaxy? tough to say.
Lastly, when all the warring between the Light and the Dark comes to an end, when the dust settles and presumably we win, what happens to our guardians? Will they still be guardians? Will we lose our paracasual nature and return to death where our guardians all originate from? Or maybe live out the rest of our lives without our ghosts and paracasual lifestyles. i think if we return to our deaths its safe to say that we aren't apart of the humanity we have vowed to protect, but if we simply lose our attunement to the paracasual entities of light and dark then i think we can very confidently say that we are all members of the humanity we strive to defend. Or crazier still, will our guardians remain? Will guardians continue to rise and be risen as the sentinels of the milky way, the guardians of our galaxy and perhaps all galaxies?
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Awoken and Exos are extensions of humanity. Awoken were from the humans on the Exodus Green who got fused with Light and Dark, and they can still interbreed with regular humans. All the original Awoken except Mara lost their memories of their previous lives as regular humans, and now they have Light and Dark in them, but they are still mostly human. Exos are created by taking a person’s consciousness and encoding it then putting it in a metal body. Ada-1 was a privately made Exo (all other Exos we know of were made by Clovis Bray as far as we know) who was made shortly after the Collapse, but she is just as human as all other Exos. She is probably the last Exo ever made, and unique because of the Black Forge (or whatever it’s called) that she can use. To keep the mind from rejecting their artificial bodies, Exos minds are “wiped,” causing memory loss and fragmentation, but that is only a memory issue and doesn’t make them any less human. Ada suffers from this just like every other Exo. Guardians are members of humanity (human, Awoken, Exo) that are given the Light to wield and have lost the memories of their previous life, but they are human. They have memory issues and were given the Light but are still absolutely human. When they lost the Light during the Red War they all went back to being regular humans.