This is the closest thing we have for a pre-Kamen Rider Decade Heisei Kamen Rider crossover. In the drama series Inspector Kenzo Yabe Season 2, 7 Kamen Rider actors appeared in the show's final episode.
All of these Kamen Rider actors appeared in the show prior to the final episode wherein they made various references to their respective shows. Seen above is a video featuring Takamasu Suga's character, Makoto Yuki attempting to enter the Mirror World.
In their brief cameo appearance in the final episode, these Rider actors did their respective poses. These Rider actors are: Toshiki Kashu (Agito/Shouichi Tsugami), Takamasu Suga (Ryuki/Shinji Kido), Kenji Matsuda (Zanki), Masaya Kikawada (Rider 1 THE FIRST), Ryousuke Miura (Ankh), Kousei Amano (Garren/Sakuya Tachibana) and Ryoji Morimoto (Chalice/Hajime Aikawa).
Source: DecaEnd of HJU, HeroShock
All of these Kamen Rider actors appeared in the show prior to the final episode wherein they made various references to their respective shows. Seen above is a video featuring Takamasu Suga's character, Makoto Yuki attempting to enter the Mirror World.
In their brief cameo appearance in the final episode, these Rider actors did their respective poses. These Rider actors are: Toshiki Kashu (Agito/Shouichi Tsugami), Takamasu Suga (Ryuki/Shinji Kido), Kenji Matsuda (Zanki), Masaya Kikawada (Rider 1 THE FIRST), Ryousuke Miura (Ankh), Kousei Amano (Garren/Sakuya Tachibana) and Ryoji Morimoto (Chalice/Hajime Aikawa).
Source: DecaEnd of HJU, HeroShock