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This is one of the pre-rendered cutscenes, so there is no swimsuit version of this one. The quality is of course not worthy of the label "HD", but it probably can't get any better considering the source material is 512x320 MPEG video.
Characters with voice acting in this scene:
Shion - Lia Sargent
KOS-MOS - Bridget Hoffman
Jin - Michael Gough
Ziggy - Richard Epcar
T-elos - Bridget Hoffman
MOMO, chaos, Jr., Allen
See my channel for playlists and other videos.
Xenosaga III HD Cutscene 319 - KOS-MOS vs. T-elos (Underground Ruins) - ENGLISH