Antiwhippy
the holder of the trombone
But when dealing with a society of androids, you do need to have some (apparent) factual basis for your lies - thankfully, it's possible to edit out inconvenient memories when given the opportunity. The setup of the YoRHa project wouldn't have been so drastic if it wasn't necessary to completely cement their deception.
My own personal theory is that the androids themselves knew that they were humanity's legacy. Like look at A2. She acknowledges that she was made in our image, and she wanted to stop the machines from supposedly firing a cannon at the moon server that holds nothing but the data, which she knows about. She has no real reason to want to do that really, but it's part of her instinct.
Maybe the androids just see themselves as part of humanity's legacy and wanted to protect that too, but even then it wasn't enough.