devtrackers.gg
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No, you pick your hero at the beginning of the mission (kind of like a moba) and you play that character til the end off the mission. So you wouldn't be able to swap back add forth.
Just wanted to confirm this is correct in terms of how the game functions. You select from your roster of heroes prior to the start of each mission. As for OP's scenario, as someone else pointed out you can reach anything with any class by building.