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Kagome did to know Inuyasha had a brother. It was mentioned back at his place when he and kagome was alone for the night (instead of 7 minutes in heaven from the truth or dare game) or it was mentione on the walk to her dorm after she got off of work. When he was undercover that first time. I remwber her saying "wow I didn't know demons lives that long!" And his reply was something like yea i have a brother (Or half brother ) who is 200 years older than me_"