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After you begin to acquire monster girls, you will want to explore their Deep Reaches.
Deep Reaches territories are accessed through the Doki-Doki Shooter minigame.
There are three Deep Reaches territories per monster girl. They are found by exposing one of three different crystals on the monster girl during the shooting minigame.
Clearing each territory involves finding the exit.
A guide for all Deep Reaches territories can be found here.
Territory difficulty directly relates to which area a monster girl was found in. Monster girls found in Area 1 have easier Deep Reaches than monster girls found in Area 6.
Random encounters are the same for all three of a monster girls' Deep Reaches territories, but the boss varies by territory. The level of random encounter enemies is listed in each monster girls' Deep Reaches section. Check the table before attempting the dungeon to make sure your party is the appropriate level.
Bosses in Deep Reaches territories are skippable by escaping. Normally, escaping from a mandatory battle, such as the ones fought when stepping on a monster tile, will cause you to take a step backwards. This single backwards step ensures that you still have to fight the required battle before proceeding. However, in Deep Reaches, escaping through either the normal Escape command or by using a Makibishi, will not cause you to take the backwards step. This allows you to bypass the territory boss and escape the dungeon.