The movie was originally announced in 2020, and while it does not sit directly in the Toy Story world, it is a prequel of sorts, telling the story of where the inspiration for the toy Buzz Lightyear originated from.
This in-universe angle is what has seen the voice of Buzz Lightyear change from Tim Allen, who has voiced the character since the original Toy Story in 1995, through three sequels and numerous shorts, to Avengers star Chris Evans.
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This is the origin story of the human Buzz Lightyear that the toy is based on.”