Grogu's ending in Star Wars prequel trilogy, Lucas once said, "You see the echo of where it all is gonna go. It’s like poetry, sort of. They rhyme." That quote is often attributed to how the prequels rhyme with the original trilogy, with plot points being resolved in later films in a rhythmic fashion.
Analyzing both trilogies and the themes that develop in a palindromic way, people can see the synchronicity of the story, most notably in Star Wars: Episode I - The Phantom Menace and Return of the Jedi (how the films unfold and the stories of natives taking on a large threat, for example), and again particularly in Star Wars: Episode III - Revenge of the Sith and A New Hope. This is the fundamental basis for the Ring Theory, which many Star Wars fans would agree with. Lucas frequently repeated themes - not necessarily ideas - and he wanted the ending of each story to have some sort of harmony with what came before it, and that can be applied to The Mandalorian.
In The Mandalorian season 2 finale, Luke Skywalker takes Grogu to be trained at his new Jedi Academy. For all intents and purposes, Grogu's story is now over in The Mandalorian - and in Star Wars - unless something brings him back into the fold later on. And in a way, his ending is quite poetic. Anakin Skywalker was responsible for displacing Grogu and forcing him into hiding in Revenge of the Sith; now Anakin's son, Luke, is the person that reconnects Grogu with the Force and brings him back to the Jedi to complete his training.
Furthermore, there's another sense of poetry in that Luke was trained by Yoda - his first true Jedi teacher, even though Obi-Wan Kenobi opened Luke's eyes to the Force - in The Empire Strikes Back. Now, following Return of the Jedi's ending, Luke is rebuilding the Jedi and takes Grogu - another member of Yoda's species - to be his first Padawan, seeing as Ben Solo didn't formally begin his Jedi training until 15 ABY, six years after the events of The Mandalorian.
This is what Lucas envisioned for Star Wars, at least partially. The rhymes in the franchise can be seen in all corners, including parts of Disney's sequel trilogy. And even in The Mandalorian season 2's ending, Din Djarin removing his Mandalorian helmet to see Grogu before the child departs is similar to Darth Vader asking Luke to remove his helmet so he could see his son at least once, with his own eyes, before he died. Even if some of the poetry may be considered reaching, there's enough of it in The Mandalorian, and Star Wars as a whole, for it to be pervasive.