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Marco has fought BB and crawled into his shell hiding in WB's old island, Luffy has brought him out of his shell, in a less dramatic fashion. Katakuri was beaten by Luffy, but aligned himself with Luffy's mentality and came OUT of his shell. Different scenarios. Marco should be more difficult...

Katakuri has a zenkai boost from his loss and growth of character accepting himself from meeting Luffy. Before that zenkai boost he was above them individually, so yeah it's possible.