Is there a way to repeat a chapter?

[Proudly Toxic]

I want to be very specific in what I'm asking here. I'm not asking if there's a way to go back to a level you've already beaten. I'm aware there's fast travel to previous chapter areas.

What I'm asking is if there's a way to straight up replay the chapter as if it was your first time doing it.

Here's why I'm asking:

In Chapter 4, there's a transformation that's entirely missable if you don't complete a sidequest in a hidden area before beating that hidden area's boss. I didn't realize this was the case, and now I can't get it without restarting the game.

Is there a new game + function, or a way to repeat chapters after having beaten the game?

[looking for gurl]

there is NG+

[JoseRodriguez]

There is NG+ but you can't restart a zone in the same game, once a boss is down, it's done.