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How to easily find out the periods when a planet gets into retrograde? for eg I want to find out all the periods, in last 5 thousand years, when mars goes into retrograde in Sidereal Scorpion?

Is there any website, or software, where I can find this using command or something like that as opposed to checking each year manually. Like approximately Mars wold have gone retro in Scorpion 250 times in the last 5000 years.

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