I like the unique mechanic of using your control grid to limit and assign your actions. It did feel a little restrictive however, I wish I could have assigned actions only partially on the grid for example.
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The "upgrade" being potentially bad (i.e. locking / forcing weird movement) is part of the Duality theme. We initially designed so that all "upgrade" will contain two abilities. With only 6 grids and three actions mandatory, I also find it being a little restrictive. I think that part does need a little more balancing. Thanks for the feedback!