star wars - How did R2-D2 and C3P0 end up with Leia?

In Rogue One we see R2-D2 and C3P0 in the Rebel base on Yavin 4. While Rogue One is on their mission at the end of the movie, R2-D2 and C3P0 see the X-Wings leave the rebel base and the droids make a funny comment, but don’t appear to be loading up to leave as well.

I seem to also remember a comment by one of the Rebel leaders that the Admiral had already gathered the fleet and was heading out.

And the next we see of R2-D2 and C3P0 seems to be shortly after the ending of Rogue One, aboard Leia’s ship (Tantive IV) with R2-D2 receiving the stolen Death Star plans at the start of Episode IV.

So when did R2-D2 and C3P0 manage to get aboard Leia’s ship?

Answer

Alexander Freed's official novelization explains it. They were likely on the last wave of transports lifting off Yavin

{{ Mon Mothma discussing Admiral Raddus}}
“He’s left already.” The man was almost stammering. “He’s in orbit aboard the Profundity. He’s gone to fight.”

Note that he merely left Yavin, and was still in Orbit, gathering the forces there at the moment

“I see,” she said, and slowly smiled. ...
Less than ten minutes later, sirens were announcing the departure of Red, Blue, Green, and Gold Squadrons along with the U-wing transports. Raddus had already contacted all capital ships within range of Yavin or Scarif. ...

And as the last transports are filling, she sees R2-D2 and C-3PO going towards tarmac, meaning towards those transports being filled:

... As the last transports began to fill, she turned back to the corridors of the ziggurat and set out for the communications center. She had to step aside for a gold-plated protocol droid and an astromech unit hurrying toward the tarmac, and faintly overheard the former indignantly declare:
“Scarif? They’re going to Scarif? Why does nobody ever tell me anything, Artoo…?”
(Chapter 17)

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