Yes, indeed. His arrival is meant to be a surprise, but we already see C-3PO and R2 leave the ship to follow Padme and Anakin. I've used as much establishing footage of R2 as possible on the ramp, starting just after he lands from his flight. I don't need to explain how he got to that point; the shot of him about to follow them into the factory is enough. We also don't see how they get out, but I don't think you really care or are thinking about that as the audience at that point. They aren't really main characters in this one.

But yes, there are several shots establishing R2's presence in the factory. While I'm at it, another change I've made is that I've cut out the Prime Minister's dialogue about Boba Fett being a clone "Curious, isn't it?" on Kamino. I liked the idea that Boba was Jango's natural son (brings up the question of who his mother was). It makes Boba Fett special and distinguishes him from all the clones. It also makes this film compatible with the original and 1997 special edition of Empire, with Boba's original voice. The difference makes perfect sense if he is not an unaltered clone.