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With all due respect, Sampooran did believe deep down that he hadn't committed a mistake and he stated the same.
Just before he left, he'd handed over the responsibilities to Ranvi and told him that people in the village will talk and cast aspersions on his character but he should always remember that his Dad was not at fault.
How on earth did he think getting a girl pregnant who had a stomach ailment and no where to go would be giving her comfort...
But anyway we wouldn't have Veera if not for this turn. I LOVE LOVE the little baby, miss her heaps.