In the first episode of the new The Mandalorian TV show, it is mentioned that the Empire is gone. We can then infer that this show is set after Return of the Jedi.
Do we know exactly when the show takes place, in-universe?
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About five years after Return of the Jedi according to Jon Favreau, the producer, who mentions as such in a behind the scenes clip at the Star Wars Celebration event in Chicago as reported by /Film.
“This series takes place about five years after Return of the Jedi,” executive producer and showrunner Jon Favreau says in the clip. “This is a character you’ve never met before in a period of time that you’ve never seen.”