Elimval

Elimval is Engset's assistant who is assigned to be the Hero's companion by Engset in the rebellion towards the Elvarren Empire during the Mother Ark story arc.

Usually bright and cheerful, Elimval knows how to cheer up her companions when they are feeling down. She also seems to have a heart of justice, which is why she is part of The Insurgence along with her childhood friends Engset and Chalon, who she grew up with in Elvarre.

Due to Yvette being swallowed by a composite in the Royal Endgame raid event, Elimval became the game's guide character starting March 8th, 2015. Due to Yvette's fate being unknown, it is unknown if Elimval's role as the guide character is permanent.

Hero
Elimval was assigned to assist the Hero by Engset. Like with everyone, she tries to cheer up the Hero when they are feeling down. She has shown to be a good friend and companion to the Hero.

Engset
Elimval is Engset's assistant. Engset and Elimval have been close since childhood, and Elimval in particular is shown to highly admire Engset, becoming very upset when Engset is upset with her.

Since she said "I love you" to Engset, it is possible that Elimval has romantic feelings for her. However, this could also be because they were raised together and Elimval sees Engset as a sister.

Chalon
They have not been shown together very often, but Elimval has said she sees him as a brother.

Silmaria
Elimval's current relationship with Silmaria is unknown, but Elimval saw her as a friend and ally before.

Yvette
Elimval and Yvette often bickered but also got along, as their upbeat personalities mixed. Elimval seemed to show sadness when Yvette was swallowed.

Empress Grace
Since Elimval grew up in Elvarre and is Engset's assistant, Elimval was one of Grace's servants. Their personal relationship is unknown, however.

Trivia

 * Because of Yvette being swallowed by a composite, Elimval became the new guide character.