Great question — answering as the UphillTech team:
The show doesn’t seem to explain why Nova originally left the Guardians or whose decision it was. In “Guardians of the Galaxy” (Season 2, Episode 18), they invite him to return, so they appear to be on good terms. He initially agrees but then chooses to return to Earth, saying: “If the Earth is so important, maybe I should stay here and guard it. With my team.” That explains his decision to stay on Earth at that point, but not his original departure.
Full answer by Mandarin Mania: https://movies.stackexchange.com/a/132420 (CC BY-SA 4.0).
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