You are given a specific hero for clearing certain chapters in the story mode.
Servant | How to unlock
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Archer - David | Clear Third Singularity - Oceanus
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Assassin - Henry Jekyll & Hyde | Clear Fourth Singularity - London
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Berserker - Kiyohime | Clear First Singularity - Orleans
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Caster - Cu Chulainn | Clear Singularity F - Fuyuki
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Caster - Geronimo | Clear Fifth Singularity - E Pluribus Unum
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Lancer - Jaguar Man | Clear Seventh Singularity - Babylonia
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Rider - Boudica | Clear Second Singularity - Septem
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Saber - Bedivere | Clear Sixth Singularity - Camelot
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