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As you reach the final stage , you land from quite a height with two ?-tanks, one life up and one cross tank. Reach the highest ground (the one having life up)-
For Freudia: Use Studel's Hund to jump high, a ladder will be visible (another ladder is on the other wall across).
For Pamela: Use her wall dash to crawl up the wall and get to the ladder(will take more than one attempt).
As you climb up, the leader becomes invisible and you soon see a cross tank.
The other ladder leads you even higher where there is a Spiritia life-up, taking that will reset your lives to zero. Do not take it.
At the 'Title' screen (loading screen) press Up, Down, R and then L to unlock Pamela as a playable character.