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The pronoun that takes the place of the noun phrase "Peter, John, and Mary's" is the possessive adjectivetheir.

The sentence would read:

"The car pulled up to their house to pick them up for the theater."

The word their is a possessive case pronoun, a plural, possessive adjective, a word placed before a noun to describe that noun as belonging to two or more people (Peter, John, and Mary).

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8y ago

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