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Can anyone help me with the Cardinal battle? I need to level up to fight him but if I leave the church to go find places to level up, I can't  get back in the secret room of the church.

If there is a story crystal crystal available you can use that to go back to older areas. A lot of the time you dont need to grind exp but SP so your characters can learn better skills.

Can you tell me where to get started on learning to grind for SP?

You'll notice your EXP gains scales down the longer you fight enemies at the same level, but SP doesn't. You dont gain any SP from sneak ambushes but only from winning battles.