The episode shown on the Japanese cartoon Naruto is called “The Unison Sign”, and this is when Sasuke was finally able to come back in episode #478.
In this particular episode, he shows up unannounced at Konoha Village’s gate in his full ninja attire. However, Kakashi first tells him that there will have to be a preliminary exam done first (examining his abilities).
When it comes time for the exam, Sasuke has difficulty proving himself because of some emotional baggage but in the end he manages to do well enough so that he can pass . His goal was reuniting with everyone and killing Madara But unfortunately for him ,Madara still had one more power-ups left But before we get into all that juicy.