The English prologue for Star Fox Command, when describing Falco's whereabouts after he left the Star Fox team yet again, says:


This actually omits one small detail from the Japanese script: that Falco went back to hanging out with Katt Monroe and presumably the rest of his old gang, FREE AS A BIRD. Here is the original Japanese text, for comparison:


Which translates to:


This adds up, as one can even see Katt's ship in the background of Falco's profile within the prologue.