How to defeat the Rock Golem:
The golem will hit you multiple times before you can attack him. Use your shield to block his attacks, then hit him while he is stunned. When he is at about one quarter health, use your mega strike, then strike him down. The prince can heal you if you run out of medicinal herbs.
Fleurette:
Go to Arondight Heights on the Avalonian map. The first time you enter that dungeon, Fleurette will tell you to go with her.
Claymore:
Go to Secase Seacove on the Avalonian map. The first time you enter that dungeon, Claymore will tell you to go together.
Anlance:
Go to Galantyne Glades on the Avalonian map. The first time you enter that dungeon, Anlance will ask if you can go with him.