I change only once by utilising the unique free option available.Never ever pay for changing mission, ever.

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I used to not do the DM mission but lately my equipment get better so i do them mode often now. However it will also depends on the challenge difficulty and the reward ratio. If the challenge is easy and the reward interesting, then yes. If the reward is low, or not interesting (e.g. 20 speed boots) then I change the mission. All I need is to complete one daily mission per day as the week completion rewards is the real benefit of this system (and not the daily mission's rewards themself).

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