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Because he became accustomed to life on earth, and when he started a family in the Buu Saga, it softened him up. Not only this, but after Goku not only forgave Vegeta letting him live, as well as sacrificing his own life to Cell right in front of him, this also led Vegeta to believe that Goku and the rest were not really bad people and he didn't have to evil anymore.

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