In this guide, you will find out how to revisit or get back into the towns in Fire Emblem Engage.
You have to do this to get the rewards like iron ores, animals, and others. Finish the mission, and go to the exploration area but you don’t find all the animals that are listed because they spawn randomly. So you have to come back later and wait for the icon shown in the image below.
It is a skirmish or a paralog mission, the skirmish missions will go through the entire game and you will be able to revisit an area. You just have to keep exploring and you will be able to revisit the town after the fight.