The Starlight Intruder (a Mobquet Medium Transport) is from the Dark Empire comics series. It was built by smugglers but eventually ended up in an Imperial impound. I prefer to think its final resting place was on Persephone owned by someone like Mal Reynolds.
|Images from Wookieepedia|
And that's not all.
In the pilot episode, look to the skies as Inara docks her shuttle. There appears to be an Imperial shuttle overhead. It is a really tiny image, but the shape looks unmistakable to me.
|Image from page 29 of the Official Companion|
Reader Adam Mitulinski pointed out to me that Serenity also makes an appearance in the Star Wars universe. Artist Tom Hodges included the Firefly class ship in the Evasive Action webcomic.
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