I think people are too absolute about the whole "planned all along" thing. It's possible to have a general idea/theme/direction planned out and not every single detail mapped out.
Obviously they never had every episode and event written in stone. That would be ridiculous. That doesn't mean they're making it up as they go along either. I don't think the majority of people out there have the slightest clue of how a writing or creative process works at all.
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