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My thought is that maybe you could add a struggling mechanic NOT as a means of escaping a grapple, but as something extra for the enemies to react to, noting how the sewer rat and the red squirrel ask the player to squirm.
Also, endosoma mode, greatly appreciated. Thank you.

You can do so using the little box next to the character profile mid battle. You can also do so using the armor icon in the menu outside of battle.

If you made the same mistake I did then you didn't realize that you were supposed to equip weapons.