A garrison was a military term for a collection of soldiers stationed at a specific location. The Galactic Empire had a garrison of stormtroopers stationed at the Citadel Tower on the planet Scarif, which they deployed during the Battle of Scarif.
When Lando Calrissian protested over the conditions that Darth Vader was imposing upon him, Vader responded by threatening to leave a garrison at Cloud City. The Imperials did take over Cloud City and left a garrison behind.
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