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There's no clear cut line between the two. Some books are obviously one or the other but others are harder to classify. When I was growing up the bookstores put it all on the Science Fiction shelves and a lot of authors wrote both sci-fi and fantasy and both were published in the sci-fi magazines.
Take The Glory Road by Heinlein its a fantasy novel given a scientific framing story. Or MZ Bradley's Darkover novels which were about Terrans rediscovering the lost colony planet where the natives had esp and other psionic talents which often reads as fantasy, especially the stories taking place before re-contact.
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