Mists Over Carcassonne

Do we have to have an equal number of different-color meeples on a road or a city to trigger joint scoring?

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Yes
If there are more meeples of one color than of the others, only the majority color scores points, so you collectively score the city or the road once (without joint scoring). For example, you complete a road which goes through 5 tiles and has 2 blue meeples and 1 red meeple. In this case, you score only 5 points.
Related Rule(s)