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I've thought about this quite extensively actually, and it does seem to fit in perfect with the timeline, with the first Xenoblade Chronicles being an actual retelling of Genesis. We even hear the voice over of an alien saying that "a Vessel to meet our Lord has finally come to me", meaning that they obviously know that Shulk and gang were the ones to create the universe post XC and humans themselves may be considered Gods (dispite the fact that Shulk has wished for a world with no Gods, but everyone seeks to find their creator).

I tend to think that the prior Xeno series were just from the perspective of another ship and crew. This is what has happened to Elma and Cross, instead of Abel and Nephilim.