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Pretty much the question as stated. The POD would be 207 BC, with Claudius Nero's death occurring early in the battle. Without Nero's leadership the Romans are defeated by the Carthaginians. If Hasrubal's army was able to reconnect with Hannibal's army, could the united force have marched on Rome and forced a humiliating defeat not unlike OTL's Battle of Zama?

I need some help with this as I am using this POD in a TL. I am not great at Roman history but I am researching the topic. And I am also interested in whether or not, without Roman interference and Carthaginian support, Phillip V of Macedonia could've united Greece under the Macedonian throne.
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