How can I use higher cost support abilities?

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I'm getting to a point in the game where my characters have several support abilities. I've even gotten one that costs 2 ..."cost"(?). The problem is that I only have one "cost" to use. I might have accidentally skipped a tutorial, but I have no idea how to get more "cost". How does one aquire more "cost"?

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How to Allocate Support Costs using Actual Capacity

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