Dark Samus becomes human thanks to Palutena.

Sometime after the events of Fire Emblem Awakening, Lucina ended up in Skyworld, naked as a jaybird. There, the nudists known as Pit and Palutena welcomed the bare princess with open arms (but not before verifying that she meant them no harm). Now Lucina wants to live with the nudist angel and goddess as their adopted daughter. Don't read if you hate futa. Request from Jam-Man 265. Also on AO3.