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Espers are used like equipment in this game. Units can enhance their stats by equipping them.
A unit with an esper can also use an invocation spell in a battle.
Espers are obtained from summons. Once you pull a corresponding vision card, that esper is unlocked.
UR Units & Tier List
Espers List & Tier List (Summons)
Unit Stats Guide
Glaciela (Flagbearer of Reform)