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I finally finished this game last weekend, I got the half-ass Yosuga ending, because I didn't feel like finishing all the Kalpas--maybe some other time. Anyway, I've come to the conclusion that this is the best RPG since Disgaea: Hour of Darkness. Any RPG fan with a PS2 must play this game.
Additionally, is anyone else planning on picking up Digital Devil Saga: Avatar Tuner next week? It is looking FAN-TASTIC. I can't wait, I love this series now.