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I'm still working on RP elements, but yes, you can backtrack in the same dungeon and in bonus play you have the whole map available. Think of it like Metroid in the sense that you can re-explore new areas if you beat a boss and get an item.
sorry went to bed after getting match then been at work all day just sent my tutor ref the message as soon as I get the response the battle will be and I'll send you and DFrog the link