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Note: For those who only want to see the battle and skip the rather lengthy scene at the beginning, scroll to 1:06.
The party meets back up with (and is attacked by) New Yokuba (or Fassad) at the fourth needle.
Lucas should use Shield Ω and Offense Up Ω, then bash the boss unless Lifeup is needed.
Kumatora should spam PK Thunder β unless Lifeup is needed.
Duster should just use physical attacks the whole battle.
Boney should use the Shield Stealer whenever the boss has a shield up, which includes the beginning of the battle. Afterwards, he should just attack, unless you have Bombs or Super bombs; if you do, by all means use them, as they'll be your best method of dealing damage.