You’ll receive rewards for completing tasks. Rewards might consist of Craft Points and/or items. Naturally, by completing missions, you’ll also learn more about the history of the world of Grim Soul and can participate in epic battles.
New tasks will appear when completing previous tasks in the same storyline, by placing specific buildings, and discovering certain locations. You won’t miss anything so long as you keep adventuring, exploring, and building up your castle.
Tasks can only be finished at your home location. If completing a task rewards an item, make sure that you have enough space for it in your inventory.