Ark Early
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Explanation
The loading zone to enter the Ark of Yamato already exists the moment you enter Ezofuji. By standing in a specific spot and doing 6 KTs straight up you'll enter the final cutscene to enter the Ark.
Demonstration
Look for this patter on the ground, in the area of the red circle you can go up https://i.imgur.com/E42t94J.jpg
Full vid including positioning: https://youtu.be/6zAyWckl-58?t=3965