Both creators have spoken in the past about the licensing issues that bar shows like Star Trek: Lower Decks, Solar Opposites, and Rick and Morty from officially coming together as one big shared universe, regardless of the carryover within the creative minds involved.
With a giant brand owning each respective show, perhaps the best fans can hope for is an artist casually sneaking in a reference under executives’ noses.
Justin Roiland is all in on the idea, though it would likely have to be something more small-scale like a blurry background Shlorpian rather than something more obtuse.