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Prologue stages based off of (in order) Code Geass Season 1, Gundam 00, Gundam Wing, and Shin (Change!) Getter Robo. No SR points, and it seems to be heavily intertwined, one after the other. Which would mean no intermission.
For stage 1, it says Esther will appear in future stages, and will follow along with you no matter which route that you take after stage 3. She rides a mass-produced Brasta. Her's is called the Brasta Es, customized for her needs. It has a healing ability, like Sayaka's Aphrodai from Z 2.1.