Here's something you may find useful. Minor spoilers.
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An adult Xaela NPC, mentions him and his family having come to Ishgard while he was a boy and living under the persecution of the Temple Knights. It's impossible to gauge how exactly old he is, but assuming that he is an adult and thus a minimum of say, 20 years old, then we can extrapolate that he and his Xaela family came to Ishgard anywhere from five to ten years ago, if not more. It's a stretch, and it's a unique case to be sure, but it provides evidence that suggests that it was possible that very small numbers of Au Ra came to Eorzea prior to the appearance of the Domans.
An adult Xaela NPC, mentions him and his family having come to Ishgard while he was a boy and living under the persecution of the Temple Knights. It's impossible to gauge how exactly old he is, but assuming that he is an adult and thus a minimum of say, 20 years old, then we can extrapolate that he and his Xaela family came to Ishgard anywhere from five to ten years ago, if not more. It's a stretch, and it's a unique case to be sure, but it provides evidence that suggests that it was possible that very small numbers of Au Ra came to Eorzea prior to the appearance of the Domans.