"She will hear us, when we go."
Translation:Ŝi aŭdos nin, kiam ni iros.
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I'm sometimes confused by the tenses used in subordinate clauses, like this one here. I vaguely remember a rule that says something about tenses in subordinate clauses being relative and thus dependent on the main clause's tense. But I could be mistaken. Maybe someone can explain... also for the others, of course. :)
Compare with "Sxi auxdos nin, kiam ni estos irinta", which means that she'll hear us once we are gone (by the time she hears us).
Or "Sxi auxdos nin, kiam ni estos iranta", which considers both verbs simultaneous (special relativity... do not go there :P).
Or "Sxi auxdos nin, kiam ni estos ironta", which means that she'll hear us when we are about to go (here, we'll go somewhere after she hears us).