It's been confirmed that 343 Industries did indeed add Craig the Brute meme Easter eggs to Halo Infinite's campaign mode. Craig's history in Halo canon only dates back to July 2020 when he debuted in the newest title's first gameplay showing. The brute appeared about halfway through the demonstration, wearing a helmet that Master Chief quickly popped off with a well-placed shot to the head. Viewers were offered a closer look at Craig right before Chief killed him in close-quarters combat.
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