Vince McMahon may have softened his stance on TNA in regards to what talent they sign or the feeling might be that NXT isn't on cable television so the rules are different. The directive, at least as of earlier this year, was that they would not be signing people from TNA but Samoa Joe and James Storm's deals to appear in NXT seems to indicate a change.
The weird thing is that Storm is still appearing on the World Title Series featured on Impact and he's been tagged in tweets by Dixie Carter during the shows. Obviously, he's featured on Impact because the matches were taped in July but it's still weird to see Storm on Impact and know that he'll be appearing on NXT TV next week. Storm and Joe are not earmarked for the main roster. The same goes for Asuka since she is there to help Dana Brooke.
Joe and Storm are there to help add experience levels to the brand since they need names when they go on tour. The experienced names working with the younger wrestlers is a good thing and you'll notice that they've had Joe and Rhyno work a lot with Baron Corbin and Mojo Rawley.
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