You can get more heroes from the free daily Covenant Summon and the additional summons you can perfrom using Covenant Bookmarks and Friendship Bookmarks.
Another way that you can get more heroes is through Connections, to begin this feature you simply have to tap on one of the Heroes that is seated on the other table on the main screen. This will allow you to see the full list of characters you can get as well as the specific requirement that must be satisfied in Story mode. As you progress in Story mode more characters will become available, the higher star-ranked ones will have more difficult conditions to satisfy.
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