its crack theory hour with Henry. When Alfor put Allura into cryosleep and called for the lions to be separated and hidden, were the lions led by their paladins or did they hide on their own with the instruction to? I wanna believe the lions found their own way without their paladins. Blue is shown walking among a stampede of antelopes in their habitat, the desert where Blue was found to be hidden away. We’ve already seen that the lions can find their way to their paladins through Red and Keith. What if the lions knew where their future paladins would be because they knew that the current ones were “obsolete,” black paladin Zarkon tried to steal the rest of Voltron and yellow paladin Alfor resisted and ordered the lions to separate. Just from these two we already know the lions understood what was going on. The reason why Yellow and Green weren’t on Earth is because it was risky to put three lions on the same planet.
Three? What about Red? Well, I’d say Red has shown her attachment to Keith well before the episode where she raced to Keith and Allura in the middle of space. Red was with the Galra. I could be very wrong here because I don’t remember if it was explained why Red was with the Galra. What if Red knew Keith was Galra and gave herself to the ship knowing Keith would be there in due time. But Keith was taken away from the ship by his mother at an early age when she joined the resistance. From there is where she sent her son to Earth, with the only memento of her, the knife. He was never given the chance to meet Red and bond with her then.
Blue was trusted with being the one to bring the four paladins to the castle and awaken Allura and Coran. Blue found her own way back to the castle with only a little bit of help from Lance, she needed his help to open the portal. Green and Yellow trusted Blue with finding their paladins on Earth because she is the most open lion to her paladins. If any of them were given the reigns, she could have flown them to the castle regardless. Pidge and Hunk would be handed off to their lions and Allura would take the reigns of Blue. Or if one of the three were to not make it, Coran was their to take a lion, too. We know he shows the potential for Red, he was just denied because she knew Keith was still out there and chose to save her paladin before anyone else would be allowed to pilot her.
Once Blue and Red were found, they would have been to awaken Allura and Coran and find the other two, knowing Black was still in the castle. The plan was jostled, though, when Keith was hidden from Red rather than Red hidden from Keith.
TL;DR The lions knew exactly where their paladins 10,000 years in the future would be and knew exactly what to do when they arrived as paladins. They had their own plan for how the paladins would be assigned to the lions and how they would be found long before they were born.