Lost Ark is a huge game with a tremendous focus on traveling between continents to progress through the story and collect items. As you play, you will come across a story quest titled Adventure Begins Again that will grant you the ability to captain the Estoque.
You can customize this ship with different sails and colors and change out your crew to better fit the expedition you are planning to go on. You can even change out the ship itself to better traverse through different types of terrain.
So, how do you unlock more ships?
White Wind
You can obtain White Wind by completing the main story in Aniika.
Sturmbrecher
After completing North Vern's storyline, you will need the Stormbrecher to travel through massive glaciers.
Eurus
You can receive Eurus as a reward for reaching reputation level three with the Ride Like in the Wind Una Daily Task.
Brahms
You earn Brahms as a reward for reaching reputation level four in the Lopang Island Una Daily Task. Specifically, the Special Delivery tasks.
Tragon
You will first need to complete the Roster Quest on Aiwana Island. After that, you must reach reputation level four in Hypnos's Eyes Una Daily Tasks.
Astray
You can craft this ship in Blackfang's Den. You will need to find an NPC named Belrod who will explain what materials you will need in order to do so (Astray Construction Blueprint, Astray Operation Manual, x570 Timber, x375 Uncommon Ship Parts Material, 10k Silver).
Eibern's Wound
You can get this ship as a reward for reaching reputation level three in the Black Night Fog Una Daily Task.
For more Lost Ark, check out Perception Shards: What are they and How to get them in Lost Ark on Pro Game Guides.
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