LRM Online claims to have learned that C-3PO and R2-D2 will make an appearance in Star Wars: Obi-Wan Kenobi. The site can’t say how big of a role the two droids will have.
LRM has released real scoops but also false rumors in the past so this should be taken with a grain of salt.
Between Episodes III and IV, 3PO and R2 serve Captain Antilles, who works for the Organa family. Maybe we’ll see them with Leia if the previous rumor is true.