"Legs from Here to Homeworld" is the 25th episode of the fifth season of the American animated television series Steven Universe, and the 153rd episode of the series overall. It was directed by Kat Morris and Liz Artinian and written and storyboarded by Danny Kilgore, Hilary Florido, and Tom Herpich, from a story by Morris, Matt Burnett, Ben Levin, Joe Johnston, and series creator and executive producer Rebecca Sugar. It premiered at the Steven Universe panel at San Diego Comic-Con on July 21, 2018, before being released on the Cartoon Network app and website the following day; it was broadcast on television on December 17, 2018.