Mikleo is a seraph. The Tales of Wikipedia has a good, brief explanation of what that means:
"The seraphim (天族 Tenzoku?, "Heavenly Tribe") are a spiritual race in the world of Tales of Zestiria.
Seraphim are invisible to all humans except those with high resonance. Because of this, several people consider them either extinct or legendary."
Because of this, the Zestiria cast has decided to limit who can interact with seraphim, and how they can interact with them.
The requirements to interact with Mikleo are:
If a human character is aligned in Sosyne they can see, hear, and interact with him.
If your character has spiritual resonance or a canon ability to interact with the supernatural, they can see, hear, and interact with him.
If your character is not human, they can see, hear, and interact with him.
Anyone can interact with Mikleo via telepathy.
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