Some details on Shadows: Awakening gameplay.
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You have party that includes up to 4 characters: the demon to explore shadows realm (this place is always booked since he is the main character) and 3 companions to explore physical realm.
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The companions are like demon’s pets with their unique set of skills and the list of available companions will increase during the game. BTW, the companions can summon their own pets.
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As far as I know at least 2 places in the group are optional - you can chose the companions from the list for the adventure. The remain place can be reserved for a certain companion if needed by the quest (depends on area and other aspects).
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You can change group members by visiting sanctuary in shadows realm.
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You can unlock all skills for every character - demon and companions. However looks like only some of the skills can be maxed out.
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Every character can use only up to 3 active skills in combnat (assigned by default to ‘Q’, ‘W’ and ‘E’). However you can always chose other active skills combination in order to support an effective strategy against enemise (bosses)
P.S: If needed I can share screenshots and other info on this.