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You can conveniently travel from the town to any location in the map (including the other sections of the town) with the activated teleportation stone. You can do this as well from any field/dungeon back to town. You can also fast-travel back in the same area's teleportation stone. Fast-traveling in the game doesn't have any repercussions and it's also a good way to "refresh" the enemies and harvest points, as well as possible event fragments and episode quests.

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Teleportation Stones

In the starting point of most areas, there are Teleportation Stones. Once activated, you'll be able to return to this area's starting point from any location. Whenever you visit an area, you should always look for the teleportation stone and activate it. There are also certain areas where there are no teleportation stone so having the nearest one activated will help a lot in case you need to do some backtracking.

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Toggling between simple mini-map or detailed

You can toggle your minimap in the upper-corner of your screen by tapping the upper left corner of your touchpad. This will allow you to open the detailed mini-map which contains a lot of valuable information like the available event fragments and episode quests, as well as the chest locations, teleportation stone location, exits, etc.

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Map / Stage Details

You can open the map's stage details by pressing square. This will display all the available quests, event fragments, and episode quests in the area, as well as the currently available mini-bosses.

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