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but by the time of Empire Chewie gets his true name, the falcon is called "the falcon", but the names didn't changed for 3PO and R2 (except now 3PO is called "3PO" in the PT and "6PO" in the OT)
Actually in ANH French, "R2-D2" is "D2-R2" (well if I remember well) and C3PO is Z6PO in all the French movies.