 If you liked
Tate no Yuusha no Nariagari
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 ...then you might like
Tsuujou Kougeki ga Zentai Kougeki de Ni-kai Kougeki no Okaasan wa Suki desu ka?
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Both are Isekai's anime, in which the protagonist is sent to another world for some purpose;
Both the protagonist forms a group;
Both are a fantasy universe;
Both the protagonist has missions given to him.
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Recommended by Joao_Jacques