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Okay so I did a derp thing. I gave Mrs. Horizon 9 maps completed and did not expect there to be a 500 AF Academia to explore. When I re close the 400 AF gate I do not get the option to give her the final map.
I went and re opened the gate and ran ALL the way back but hit some barracades that I can only open from the other side.
Do I have to close the 400 AF gate, finish it like normal THEN run back again while the gates are still shown as opened?
I had a lot of trouble with this too, but no, there is a way around to get back to her. I wasted like three hours looking for it.
Sorry I don't have more info (it's been awhile since I played) but I know you can do it without closing the gate and starting all over.
I will give it another go. but what really ticks me off is the two gate artifacts that you can get in your second trip into the void beyond. I never saw them and so I can't lock two gates now.
Edit
Okay I found a way, just a narrow passageway I overlooked while constantly getting attacked by Cieth. Thanks for the tip.