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It is assumed that hosts do not compete for resources and that parasitoids can only attack the larval stage of the hosts, laying a single egg inside. Also, juvenile parasitoids are assumed to develop and emerge after a fixed host-dependent time, which leads to the consideration of a four-dimensional DDE model with constant delay.  The authors first look for the equilibria of the model and investigate their stability via linearisation, obtaining in the process a double invasibility condition which leads to the instability of both single host-parasitoid equilibria and to host coexistence. It is observed that the density-dependent component of larval mortality is a mediator for host coexistence, in the sense that if both larval mortalities are density-independent, then the double invasibility condition cannot hold.  Since the focus of the paper is host coexistence and it is well known that host-parasitoid systems can exhibit cycles, the coexistence of host species along an attracting periodic solution for the corresponding one-host model is also investigated via a Floquet analysis coupled with numerical simulations, as the complete analytic characterization is out of reach. It is then seen that in this case a double invasibility condition holds and the coexistence of host species becomes possible even in the absence of density dependence for larval mortality. 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