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When you’d like to return to the lobby to chat or to join a new game, you will find a warp in the Hunter’s Guild on Pioneer 2 which will return you there, provided you are not in a quest.

Phantasy Star Online - Hunter's Guild - A HUcast standing in front of the teleporter that returns Hunters to the lobby

 

If you are in a quest, talking to the receiptionist will permit you to return to the lobby.

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