I understand that it is practically impossible, legally however all that is required is permission in the form of a licensing agreement from the parties with IP you plan on using.
Certainly, that's true. There's some holders that don't go in for it -- the Tolkien estate is another that sort of keeps a wall around the characters. But anything's possible. The upcoming Tarzan/Planet of the Apes comic is something that I never thought I'd see. (A brilliant idea, wish I'd thought of it!)


(I hadn't fully experienced the Republic storyline until recently either.) Now that the Legends thing has been more or less settled, I really want to go back through and read from the beginning before fully committing to the newer stuff, and the KOTOR comics are one of the things I'm most looking forward to. Finally getting all of those Gryph in-jokes on certain other forums will be a relief.