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Nara and Narayan were the incarnation of Lord Vishnu. Who later incarnated in last Dwapara as Arjuna and Krishna.

Nara-Narayan incarnation has been discussed in this question.

In 9th Canto Chapter 3 of Bhagavata purana

This is what lord Brahma tells Kakudmi when he arrives in Brahma Loka with his daughter Revati.

Twenty-seven catur-yugas have already passed. Those upon whom you may have decided are now gone, and so are their sons, grandsons and other descendants. You cannot even hear about their names.

O King, leave here and offer your daughter to Lord Baladeva, who is still present. He is most powerful. Indeed, He is the Supreme Personality of Godhead, whose plenary portion is Lord Viṣṇu. Your daughter is fit to be given to Him in charity.

I assume here Baladeva refers to Lord Balaram; Brother of Lord Krishna. So we know that this story is from last Dwapara yuga if I'm not mistaken.

And then Kakudmi after marrying his daughter to Lord Balaram goes to Badarikashram.

Thereafter, the King gave his most beautiful daughter in charity to the supremely powerful Baladeva and then retired from worldly life and went to Badarikāśrama to please Nara-Nārāyaṇa.

So my question is: were sages Nara-Nārāyaṇa still present at that time in BadarikaShram?

Or is it that Kakudmi went to Badarika to please them by worshipping them(not personally in case they had already departed for their abode)?

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Yes, Sage Nara and Narayan still lived at least uptill the beginning of 28th Kali Yuga in BadrikAshram.

In 3rd canto of Bhagavatam when Vidura was having a dialog with Uddhav. Uddhava being deeply saddened by separation from Lord Krishna(after Lord's disappearance); This is what Uddhav says:

My dear Vidura, now I am mad for want of the pleasure of seeing Him, and just to mitigate this I am now proceeding to Badarikāśrama in the Himālayas for association, as I have been instructed by Him.

There in Badarikāśrama the Personality of Godhead, in His incarnation as the sages Nara and Nārāyaṇa, has been undergoing great penance since time immemorial for the welfare of all amiable living entities.

So Nara and Narayan sages still lived in Badrikashram even in the beginning of Kali Yuga.

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