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usually a room at the end of the dungeon where you complete a task and then it lets you exit with some loot at the end of the stage.
I recommend you get an auto rifler and machine pistol
on the last few trains, you will encounter a lot of enemies to kill
once you enter the train, and walk a little towards the door, it should automatically play an ingame cutscene with dialogue and a timer appears on the right
you then have to basically rampage/bully your way to the end, and make sure you kill everything that appears.
then if you complete the train ride, you exit off the train, and there is some loot before you exit. make sure you grab that before you leave that area.
if you already beat it, i don't think the doors re-open, so you would probably have to re-roll adventure mode to get n'urd world again and hopefully you get that dungeon again in the run through.
otherwise if you completed it already, I don't think it opens up again
to get adventure mode unlock, you have to at least beat the first world you get.
unless you re-roll and get a different world, either way, you need to at least beat one world to unlock adventure mode so you get story mode and adventure mode
You can likely just teleport back to the first crystal, and go from there. As far as I can tell you can go back to start of the dungeon without doing adventure mode.
The only thing is that if you don't have another big crystal to get to where you are, you will loose progress up to the most recent big crystal you found. That's how I think it works anyway.
TBH the game is pretty convoluted. I think I missed a bunch of things in Terminus station, and want to go back, but I want to beat the train first. at the last section, but died to that last car on the elite at the end twice now.
EDIT: sorry, you want to get to the part after the train? sorry, I haven't beat the train yet. it's my first dungeon, and playing as medic, so it's not the easiest. I might unlock the Doggo-Guy and see if that helps.
Farming scrap from the train takes forever though, I'll likely beat it before I save up enough scrap for the whistle.