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ABSTRACT The r-process-enhanced (RPE) stars provide fossil records of the assembly history of the Milky Way (MW) and the nucleosynthesis of the heaviest elements. Observations by the R-Process Alliance (RPA) and others have confirmed that many RPE stars are associated with chemo-dynamically tagged groups, which likely came from accreted dwarf galaxies of the MW. However, we do not know how RPE stars are formed. Here, we present the result of a cosmological zoom-in simulation of an MW-like galaxy with r-process enrichment, performed with the highest resolution in both time and mass. Thanks to this advancement, unlike previous simulations, we find that most highly RPE (r-II; [Eu/Fe] > +0.7) stars are formed in low-mass dwarf galaxies that have been enriched in r-process elements for [Fe/H] $$\lt -2.5$$, while those with higher metallicity are formed in situ, in locally enhanced gas clumps that were not necessarily members of dwarf galaxies. This result suggests that low-mass accreted dwarf galaxies are the main formation site of r-II stars with [Fe/H] $$\, \lt -2.5$$. We also find that most low-metallicity r-II stars exhibit halo-like kinematics. Some r-II stars formed in the same halo show low dispersions in [Fe/H] and somewhat larger dispersions of [Eu/Fe], similar to the observations. The fraction of simulated r-II stars is commensurate with observations from the RPA, and the distribution of the predicted [Eu/Fe] for halo r-II stars matches that observed. These results demonstrate that RPE stars can be valuable probes of the accretion of dwarf galaxies in the early stages of their formation.