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Abstract A consequence of a nonzero occupation fraction of massive black holes (MBHs) in dwarf galaxies is that these MBHs can become residents of larger galaxy halos via hierarchical merging and tidal stripping. Depending on the parameters of their orbits and original hosts, some of these MBHs will merge with the central supermassive black hole in the larger galaxy. We examine four cosmological zoom-in simulations of Milky Way-like galaxies to study the demographics of the black hole mergers that originate from dwarf galaxies. Approximately half of these mergers have mass ratios less than 0.04, which we categorize as intermediate mass ratio inspirals, or IMRIs. Inspiral durations range from 0.5–8 Gyr, depending on the compactness of the dwarf galaxy. Approximately half of the inspirals may become more circular with time, while the eccentricity of the remainder does not evolve. Overall, IMRIs in Milky Way-like galaxies are a significant class of black hole mergers that can be detected by LISA, and must be prioritized for waveform modeling.