Toriyama either gave Toei info from months ahead or Toei coincidentally got lucky on something and Toriyama liked it so he used it in the manga. Either way, Piccolo's fused with Kami in Movie 6, the Super Saiyans and Gohan are their Android Saga selves, and Trunks is absent. That pretty much just leaves the 3 year gap, but that means an explanation has to be made for Piccolo seemingly randomly fusing with Kami. Maybe Piccolo figured he should do it to make sure he could defend himself and the others.