Hiro and Zero Two die in the process of defending Earth from VIRM, and the series ends with the two of them meeting again as children, having been reincarnated on Earth, where the human race is now thriving again.

Does Hiro survive darling in the Franxx?

Part of the reason why he was determined to keep on piloting Strelizia is because he was finally able to fulfill his role as a Parasite, and he was willing to die fighting than live as a useless civilian. However, this wish of his came to an end after he survived his third ride with Zero Two.

Does Zero Two and Hiro come back?

The finale ended with Hiro and Zero Two sacrificing themselves to destroy the alien hive mind VIRM's homeworld and the klaxosaurs retreating back into the Earth. ... Hiro and Zero Two are also reincarnated a thousand years in the future and they meet each other again.