Originally Posted by
Aidoru
That's no different than many other games, even Flower Knight Girls require you to do the exact same thing. Leave the quest you chose and go back to edit party then go back and find the specific quest/team/helper/etc.
The only clunky thing about the menu is how slow it is, probably because of Japanese servers or something so the latency is shit.
When navigating the menu, avoid pressing the "Back" button on the bottom left as it forces a slow loading screen on you. It's faster to go through the options again.