Originally Posted by
Camate
While we do not have any plans of making it so all of the skills can be acquired, in the future we are planning to increase the skill point cap.
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Instead of simply increasing the experience points your companions acquire, we will be enhancing their usability and increasing the opportunities in which experience points can be acquired by making it possible to summon your companions while being queued for the Duty Finder.
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As the requirement for obtaining the barding is to max out the skill points of your companion's stance, we are currently looking into a way to redistribute your points.