 If you liked
Cross Ange: Tenshi to Ryuu no Rondo
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 ...then you might like
Gate: Jieitai Kanochi nite, Kaku Tatakaeri Part 2
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- Cross world battles mixing of fantasy/science fiction elements
- Characters not understanding what their enemies are
- Focus on party character development with strong main protagonist lead
Its hard to find animes that mix fantasy/scifi and war try to watch both to see if they are what you seek