Tobar is technically correct, but I agree with Maul’s points nonetheless. There is a checkmark next to each box where RO connects to ANH, but checking the box doesn’t mean that the plotlines feel continuous. Taking Vader at his word, and assuming that the most important pieces of information are being conveyed, the scene in ANH heavily implies that the plans were beamed directly to the Tantive. It also implies that Leia thought that she could not be directly tied to the theft of the plans, for several reasons:

Leia is spending significant time to make a detour with vital intelligence, something that makes little sense if she knows she is being followed.
Leia’s cover story concerns a ‘diplomatic mission to Alderaan’ which does not explain this detour to Tatooine, implying that she was completely unprepared for this encounter and contradicts the state of play at the end of RO.
Vader’s conversation with the officer makes clear that the Empire is on thin ice by detaining this senator, which would not be the case if the Empire has overwhelming evidence of the Tantive undocking from the flagship of the Rebel Alliance carrying traitors to the Empire.