Is there any way to access the beta? I think I heard there was a Discord, but I don't know how to access it.
Do you have the link to the Discord?
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Yes it's open to anyone who asks in the general chat of the Discord server I run for this game. You can find a link for an invite in-game, Main Menu > Support the dev and social button. The links will react when pressed, so just click the one for Discord (or tap it on phone if you're on Android) to activate it.