Yes and no...wait.... how ?????? i mean... my ally list is not that big.... do i need to finish the story first ?
The "game clear" status is achieved after you clear the Starfall tower.
But unlike usual the story does not end there.
Instead of simply having a free world to explore to get 100% completion rate like in other games in this game the story actually continues quite a bit after that "game clear" status is obtained.