it looks like you went too far with the lewd stuff haha. A solution would be to simply throw a flash bomb. If you are lucky, your team will dodge the attacks and you should be able to use the collar. They don’t have any magic so it should be enough. If you are not lucky, just reload.
Also, you might want to go to the bottom right of the map. There is some kind of mage soul that sells some spells. You can get thunder resistance for your team, the skill brighten which is very useful in the Roland fight. Using a nasty oil coating will make the knights of Roland weak.
With all of this, you should be able to survive until your aura can use the collar. You might even win the fight too without that.