ruri's Questions (2)

I am looking for an isekai manga where a group of people were summoned into a kingdom and then there was an extra guy that was not supposed to be part of the group. But it turns out that he was actually been summoned as the hero on that country before? I forgot the name and the details are kinda vague. Any help would be appreciated. Thanks!

https://youtu.be/IcwDp3c-WZg

I'm not sure if everyone watched it already, but i saw this on youtube and just had to share. I love the lyrics, so turn on the captions (^_^)v