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In He-Man: The Eternity War #7, Hordak gives Skeletor the Havoc Staff, as a means to travel back in time to steal Adora from her parents. We see that Skeletor does go back in time and steals Adora, but the time travel was one way and Skeletor raised her with Shadow Weaver. Over time his craving for the power of the Havoc Staff grew, so he... turned into a goat demon and attacked robotic Hordak, who killed him and turned his goat skull into the Havoc Staff Hordak gave him.
Seems like a long way to go to prevent Hordak being a cuckold by putting a human baby in his own nest.