Yes you do get XP bonuses for completing objectives without setting off alarms and without being seen. I know one of those bonuses is called "ghost" (I think it is the no alarms one) and it gets you a lot of XP (500 I think). The game is pretty balanced so that stealthy people and combat people both gain EX for playing the game their way.
I saved zulf both times. After hearing his story about how he spent his whole life trying to promote peace and then finding out that the calamity was a attempt to wipe out his people made me understand why he did what he did.
As stated before, I chose to regenerate the world first because I felt if fit the story of NG+ better. How I see it is that the Kid tried to reset the world (even though his life and the girls lives were pretty bad before the calamity) because it might save Caelondia. Then the calamity happens again and nothing was changed because most people don't remember the first calamity. I do think that at least the Kid and Rucks have some hazy recollection of the first calamity though (which is why some of Rucks lines talk about feeling like he has told this story before and why the Kid still remembers his skills and has his weapons from the first calamity.) So at the end, the kid chooses the evacuate and let the world move on instead of being trapped in a time loop.
That really is one of my favorite parts of the game, every game play contrivance has a story justification. Buffs are spirits from the distillery, difficulty increases are due to the gods challenging you, and new game + is (potentially) because you reset the world at the end.
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